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Code Issues Releases Activity

update settings during initialisation only

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This commit is contained in:
Corvus Corax 2013-05-20 15:28:18 +02:00
parent a03f87efb5
commit a286cc6b24
1 changed files with 1 additions and 2 deletions
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3
flight/modules/StateEstimation/filtercf.c
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@ -80,7 +80,6 @@ void filterCFInitialize(stateFilter *handle)
handle->init = &initwithoutmag; handle->init = &initwithoutmag;
handle->filter = &filter; handle->filter = &filter;
FlightStatusConnectCallback(&flightStatusUpdatedCb); FlightStatusConnectCallback(&flightStatusUpdatedCb);
HomeLocationConnectCallback(&flightStatusUpdatedCb);
flightStatusUpdatedCb(NULL); flightStatusUpdatedCb(NULL);
} }
@ -107,6 +106,7 @@ static int32_t maininit(void)
first_run = 1; first_run = 1;
accelUpdated = 0; accelUpdated = 0;
AttitudeSettingsGet(&attitudeSettings); AttitudeSettingsGet(&attitudeSettings);
HomeLocationGet(&homeLocation);
const float fakeDt = 0.0025f; const float fakeDt = 0.0025f;
if (attitudeSettings.AccelTau < 0.0001f) { if (attitudeSettings.AccelTau < 0.0001f) {
@ -401,7 +401,6 @@ static int32_t complementaryFilter(float gyro[3], float accel[3], float mag[3],
static void flightStatusUpdatedCb(UAVObjEvent *ev) static void flightStatusUpdatedCb(UAVObjEvent *ev)
{ {
FlightStatusGet(&flightStatus); FlightStatusGet(&flightStatus);
HomeLocationGet(&homeLocation);
} }
/** /**