[paparazzi-commits] [4658] uuups

[Felix Ruess]

Revision: 4658
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4658
Author:   flixr
Date:     2010-03-10 16:17:57 +0000 (Wed, 10 Mar 2010)
Log Message:
-----------
uuups

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.c

Modified: paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.c      2010-03-10 
15:59:39 UTC (rev 4657)
+++ paparazzi3/trunk/sw/airborne/booz/ins/booz2_hf_float.c      2010-03-10 
16:17:57 UTC (rev 4658)
@@ -524,11 +524,11 @@
     PRINT_DBG(2, ("update. rb_n: %d  lag_counter: %d  lag_cnt_err: %d\n", 
b2_hff_rb_n, b2_hff_rb_last->lag_counter, lag_counter_err));
     if (abs(lag_counter_err) <= GPS_LAG_TOL_N) {
       b2_hff_rb_last->rollback = TRUE;
-      b2_hff_update_x(b2_hff_rb_last, booz_ins_gps_pos_m_ned.x);
-      b2_hff_update_y(b2_hff_rb_last, booz_ins_gps_pos_m_ned.y);
+      b2_hff_update_x(b2_hff_rb_last, booz_ins_gps_pos_m_ned.x, Rgps_pos);
+      b2_hff_update_y(b2_hff_rb_last, booz_ins_gps_pos_m_ned.y, Rgps_pos);
 #ifdef B2_HFF_UPDATE_SPEED
-      b2_hff_update_xdot(b2_hff_rb_last, booz_ins_gps_speed_m_s_ned.x);
-      b2_hff_update_ydot(b2_hff_rb_last, booz_ins_gps_speed_m_s_ned.y);
+      b2_hff_update_xdot(b2_hff_rb_last, booz_ins_gps_speed_m_s_ned.x, 
Rgps_vel);
+      b2_hff_update_ydot(b2_hff_rb_last, booz_ins_gps_speed_m_s_ned.y, 
Rgps_vel);
 #endif
       past_save_counter = GPS_DT_N-1;// + lag_counter_err;
       PRINT_DBG(2, ("gps updated. past_save_counter: %d\n", 
past_save_counter));