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| author | Julian Oes <joes@student.ethz.ch> | 2013-02-06 12:41:05 -0800 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2013-02-06 12:41:05 -0800 |
| commit | fc4be3e7280db480b67b7c6cec11e35481969bbb (patch) | |
| tree | 90f760ad4022a3ad568a815e3a89e29cd4e47d48 /apps/commander/commander.c | |
| parent | a79ad17f09ac69bf2a19a4f617fa1df16bcaa6be (diff) | |
| download | px4-firmware-fc4be3e7280db480b67b7c6cec11e35481969bbb.tar.gz px4-firmware-fc4be3e7280db480b67b7c6cec11e35481969bbb.tar.bz2 px4-firmware-fc4be3e7280db480b67b7c6cec11e35481969bbb.zip | |
Changed gps position topic mostly to SI units and float, removed counters and added specifig timestamps
Diffstat (limited to 'apps/commander/commander.c')
| -rw-r--r-- | apps/commander/commander.c | 14 |
1 files changed, 7 insertions, 7 deletions
diff --git a/apps/commander/commander.c b/apps/commander/commander.c index 3a6fecf74..f19f1d0e6 100644 --- a/apps/commander/commander.c +++ b/apps/commander/commander.c @@ -1678,8 +1678,8 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position); /* check for first, long-term and valid GPS lock -> set home position */ - float hdop_m = gps_position.eph / 100.0f; - float vdop_m = gps_position.epv / 100.0f; + float hdop_m = gps_position.eph_m; + float vdop_m = gps_position.epv_m; /* check if gps fix is ok */ // XXX magic number @@ -1697,7 +1697,7 @@ int commander_thread_main(int argc, char *argv[]) if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < dop_threshold_m) && (vdop_m < dop_threshold_m) && !home_position_set - && (hrt_absolute_time() - gps_position.timestamp < 2000000) + && (hrt_absolute_time() - gps_position.timestamp_position < 2000000) && !current_status.flag_system_armed) { warnx("setting home position"); @@ -1706,11 +1706,11 @@ int commander_thread_main(int argc, char *argv[]) home.lon = gps_position.lon; home.alt = gps_position.alt; - home.eph = gps_position.eph; - home.epv = gps_position.epv; + home.eph_m = gps_position.eph_m; + home.epv_m = gps_position.epv_m; - home.s_variance = gps_position.s_variance; - home.p_variance = gps_position.p_variance; + home.s_variance_m_s = gps_position.s_variance_m_s; + home.p_variance_m = gps_position.p_variance_m; /* announce new home position */ if (home_pub > 0) { |