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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-21 13:32:47 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-09-22 10:59:54 +0200 |
| commit | d113fcfc54c246f3d5ac22ad5485f7103aecab41 (patch) | |
| tree | 73cf5641999caf02301d9337e80b22f3e0707518 | |
| parent | 5a0e0d041229700d2ae9c14e4ab2798d34fff14c (diff) | |
| download | px4-firmware-d113fcfc54c246f3d5ac22ad5485f7103aecab41.tar.gz px4-firmware-d113fcfc54c246f3d5ac22ad5485f7103aecab41.tar.bz2 px4-firmware-d113fcfc54c246f3d5ac22ad5485f7103aecab41.zip | |
commander: move position of gps failure check
| -rw-r--r-- | src/modules/commander/commander.cpp | 35 |
1 files changed, 17 insertions, 18 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index b43f08f67..bf15bbeb6 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1205,24 +1205,6 @@ int commander_thread_main(int argc, char *argv[]) check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid), &status_changed); - /* check if GPS fix is ok */ - if (gps_position.fix_type >= 3 && //XXX check eph and epv ? - hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT) { - /* handle the case where gps was regained */ - if (status.gps_failure) { - status.gps_failure = false; - status_changed = true; - mavlink_log_critical(mavlink_fd, "gps regained"); - } - } else { - if (!status.gps_failure) { - status.gps_failure = true; - status_changed = true; - mavlink_log_critical(mavlink_fd, "gps fix lost"); - } - } - - /* update home position */ if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed && (global_position.eph < eph_threshold) && (global_position.epv < epv_threshold)) { @@ -1434,6 +1416,23 @@ int commander_thread_main(int argc, char *argv[]) globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, (float)gps_position.alt * 1.0e-3f, hrt_absolute_time()); } + /* check if GPS fix is ok */ + if (gps_position.fix_type >= 3 && //XXX check eph and epv ? + hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT) { + /* handle the case where gps was regained */ + if (status.gps_failure) { + status.gps_failure = false; + status_changed = true; + mavlink_log_critical(mavlink_fd, "gps regained"); + } + } else { + if (!status.gps_failure) { + status.gps_failure = true; + status_changed = true; + mavlink_log_critical(mavlink_fd, "gps fix lost"); + } + } + /* start mission result check */ orb_check(mission_result_sub, &updated); |