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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-26 13:52:10 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-26 13:53:42 +0200 |
| commit | bf9282c9882882a5fc4adf680a6ecc5e655bb0e8 (patch) | |
| tree | bb88eb4d1fc0b8b3e051ce62a1cda4dc2d66c66a | |
| parent | 00a2a0370eedf84f68dcda5995f4e34495aaf887 (diff) | |
| download | px4-firmware-bf9282c9882882a5fc4adf680a6ecc5e655bb0e8.tar.gz px4-firmware-bf9282c9882882a5fc4adf680a6ecc5e655bb0e8.tar.bz2 px4-firmware-bf9282c9882882a5fc4adf680a6ecc5e655bb0e8.zip | |
position_estimator_inav: requre EPH < 5m to set GPS reference
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index af6a704a2..bc6e0b020 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -429,7 +429,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (fds[6].revents & POLLIN) { orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps); - if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout) { + if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout && gps.eph_m < 5.0f) { /* initialize reference position if needed */ if (!ref_xy_inited) { if (ref_xy_init_start == 0) { |