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Code Issues Releases Activity

OP-235 AHRS: Because of range checking at initialization the EKF can be blocked

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(which is good) but that stops the comms polling.  This makes it happen
ocassionally but not too much.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2335 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2011-01-05 10:34:48 +00:00 committed by peabody124
parent 77d798071e
commit 6eae425644
1 changed files with 5 additions and 2 deletions
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7
flight/AHRS/ahrs.c
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@ -605,8 +605,11 @@ bool get_accel_gyro_data()
{
float accel[6];
float gyro[6];
while(fifoBuf_getUsed(&adc_fifo_buffer) < (sizeof(accel) + sizeof(gyro)))
AhrsPoll();
uint16_t spin_count = 1;
while(fifoBuf_getUsed(&adc_fifo_buffer) < (sizeof(accel) + sizeof(gyro))) {
if(spin_count++ == 0)
AhrsPoll();
}
fifoBuf_getData(&adc_fifo_buffer, &accel[0], sizeof(float) * 3);
fifoBuf_getData(&adc_fifo_buffer, &gyro[0], sizeof(float) * 3);