diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-27 23:43:39 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-27 23:43:39 +0200 |
| commit | 8e12d79ef4b32da98dfb13af1321a6855ecbdc3d (patch) | |
| tree | ddad022e2cf03b9db01264766c7b5fafd862f6fb | |
| parent | 5d36381dc5f3bbb1eefc70158680f9622ac437b6 (diff) | |
| download | px4-firmware-8e12d79ef4b32da98dfb13af1321a6855ecbdc3d.tar.gz px4-firmware-8e12d79ef4b32da98dfb13af1321a6855ecbdc3d.tar.bz2 px4-firmware-8e12d79ef4b32da98dfb13af1321a6855ecbdc3d.zip | |
Increase GPS position timeout to real-life timeouts. More work needed.
| -rw-r--r-- | src/modules/commander/commander.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index daba4e740..6c24734e5 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -124,7 +124,7 @@ extern struct system_load_s system_load; #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC) -#define POSITION_TIMEOUT (600 * 1000) /**< consider the local or global position estimate invalid after 600ms */ +#define POSITION_TIMEOUT (2 * 1000 * 1000) /**< consider the local or global position estimate invalid after 600ms */ #define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */ #define RC_TIMEOUT 500000 #define DL_TIMEOUT 5 * 1000* 1000 @@ -1111,7 +1111,7 @@ int commander_thread_main(int argc, char *argv[]) bool eph_epv_good; if (status.condition_global_position_valid) { - if (global_position.eph > eph_epv_threshold * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) { + if (global_position.eph > eph_epv_threshold * 2.5f || global_position.epv > eph_epv_threshold * 2.5f) { eph_epv_good = false; } else { |