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Code Issues Releases Activity

OP-1273 OP-1282 OP-1283 corrected compilation error for fw_revoproto

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This commit is contained in:
Andres 2014-04-01 07:46:50 +02:00
parent 830f13596e
commit fd5d1e42a3
1 changed files with 11 additions and 9 deletions
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20
flight/modules/Attitude/revolution/attitude.c
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@ -1072,13 +1072,22 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
vel[2] = gpsVelData.Down;
}
// Copy the position into the UAVO
PositionStateData positionState;
PositionStateGet(&positionState);
positionState.North = Nav.Pos[0];
positionState.East = Nav.Pos[1];
positionState.Down = Nav.Pos[2];
PositionStateSet(&positionState);
// airspeed correction needs current positionState
if (airspeed_updated) {
// we have airspeed available
AirspeedStateData airspeed;
AirspeedStateGet(&airspeed);
airspeed.CalibratedAirspeed = airspeedData.CalibratedAirspeed;
airspeed.TrueAirspeed = (airspeedSensor.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed *IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedSensor.TrueAirspeed;
airspeed.TrueAirspeed = (airspeedData.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed *IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedData.TrueAirspeed;
AirspeedStateSet(&airspeed);
@ -1108,14 +1117,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
INSCorrection(&magData.x, NED, vel, (baroData.Altitude + baroOffset), sensors);
}
// Copy the position and velocity into the UAVO
PositionStateData positionState;
PositionStateGet(&positionState);
positionState.North = Nav.Pos[0];
positionState.East = Nav.Pos[1];
positionState.Down = Nav.Pos[2];
PositionStateSet(&positionState);
// Copy the velocity into the UAVO
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
velocityState.North = Nav.Vel[0];