From d558819a243283b3086305bf6838e38ad8cef0fd Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 7 Sep 2015 09:59:49 +0200 Subject: [PATCH] Attitude estimator Q: Add sensor priority support --- .../attitude_estimator_q/attitude_estimator_q_main.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp index 56929b75ae..9b60701413 100644 --- a/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp +++ b/src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp @@ -314,10 +314,12 @@ void AttitudeEstimatorQ::task_main() } } - _voter_gyro.put(i, sensors.gyro_timestamp[i], &gyro[0], sensors.gyro_errcount[i]); + _voter_gyro.put(i, sensors.gyro_timestamp[i], &gyro[0], sensors.gyro_errcount[i], sensors.gyro_priority[i]); } - _voter_accel.put(i, sensors.accelerometer_timestamp[i], &sensors.accelerometer_m_s2[i * 3], sensors.accelerometer_errcount[i]); - _voter_mag.put(i, sensors.magnetometer_timestamp[i], &sensors.magnetometer_ga[i * 3], sensors.magnetometer_errcount[i]); + _voter_accel.put(i, sensors.accelerometer_timestamp[i], &sensors.accelerometer_m_s2[i * 3], + sensors.accelerometer_errcount[i], sensors.accelerometer_priority[i]); + _voter_mag.put(i, sensors.magnetometer_timestamp[i], &sensors.magnetometer_ga[i * 3], + sensors.magnetometer_errcount[i], sensors.magnetometer_priority[i]); } int best_gyro, best_accel, best_mag;