rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-02 10:24:11 +01:00
Code Issues Releases Activity

fixed bugs in GPS, corrected zeroing of updated flags in stateestimation

Browse Source
This commit is contained in:
Corvus Corax 2013-05-25 12:28:32 +02:00
parent 87b1b4873c
commit 6c25e82633
2 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
flight/modules/GPS/GPS.c
View File

@ -72,7 +72,7 @@ static void setPositionSensor(GPSPositionSensorData *gpsData);
#ifdef PIOS_GPS_SETS_HOMELOCATION #ifdef PIOS_GPS_SETS_HOMELOCATION
// Unfortunately need a good size stack for the WMM calculation // Unfortunately need a good size stack for the WMM calculation
#define STACK_SIZE_BYTES 850 #define STACK_SIZE_BYTES 1024
#else #else
#if defined(PIOS_GPS_MINIMAL) #if defined(PIOS_GPS_MINIMAL)
#define STACK_SIZE_BYTES 500 #define STACK_SIZE_BYTES 500
@ -349,11 +349,11 @@ static void setPositionSensor(GPSPositionSensorData *gpsData)
float ECEF[3]; float ECEF[3];
float Rne[3][3]; float Rne[3][3];
{ {
float LLA[3] = { home.Latitude, home.Longitude, home.Altitude }; float LLA[3] = { (home.Latitude) / 10e6f, (home.Longitude) / 10e6f, (home.Altitude) };
LLA2ECEF(LLA, ECEF); LLA2ECEF(LLA, ECEF);
RneFromLLA(LLA, Rne); RneFromLLA(LLA, Rne);
} }
{ float LLA[3] = { gpsData->Latitude, gpsData->Longitude, gpsData->Altitude + gpsData->GeoidSeparation }; { float LLA[3] = { (gpsData->Latitude) / 10e6f, (gpsData->Longitude) / 10e6f, gpsData->Altitude + gpsData->GeoidSeparation };
float NED[3]; float NED[3];
LLA2Base(LLA, ECEF, Rne, NED); LLA2Base(LLA, ECEF, Rne, NED);
pos.North = NED[0]; pos.North = NED[0];

4
flight/modules/StateEstimation/stateestimation.c
View File

@ -377,8 +377,8 @@ static void StateEstimationCb(void)
} }
// read updated sensor UAVObjects and set initial state // read updated sensor UAVObjects and set initial state
states.updated = updatedSensors; states.updated = updatedSensors;
updatedSensors ^= states.updated; updatedSensors = 0;
// fetch sensors, check values, and load into state struct // fetch sensors, check values, and load into state struct
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(GyroSensor, gyro, x, y, z); FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(GyroSensor, gyro, x, y, z);