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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-03 13:39:26 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-03 13:39:26 +0200 |
| commit | affa3af4e6415d1f68dd6242d0ded6e5ed8a1b1d (patch) | |
| tree | 46cd980be5e4a9f98a609d42c134f8f6383c01d7 /apps/position_estimator | |
| parent | 992a415ffc45ed9d7b728deb288ca78a3b1807d5 (diff) | |
| download | px4-firmware-affa3af4e6415d1f68dd6242d0ded6e5ed8a1b1d.tar.gz px4-firmware-affa3af4e6415d1f68dd6242d0ded6e5ed8a1b1d.tar.bz2 px4-firmware-affa3af4e6415d1f68dd6242d0ded6e5ed8a1b1d.zip | |
Clean 250 Hz updates in filter, partial updates enabled
Diffstat (limited to 'apps/position_estimator')
| -rw-r--r-- | apps/position_estimator/position_estimator_main.c | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/apps/position_estimator/position_estimator_main.c b/apps/position_estimator/position_estimator_main.c index e061256fc..f8390f100 100644 --- a/apps/position_estimator/position_estimator_main.c +++ b/apps/position_estimator/position_estimator_main.c @@ -261,6 +261,7 @@ int position_estimator_main(int argc, char *argv[]) /* subscribe to vehicle status, attitude, gps */ struct vehicle_gps_position_s gps; + gps.fix_type = 0; struct vehicle_status_s vstatus; struct vehicle_attitude_s att; @@ -283,8 +284,8 @@ int position_estimator_main(int argc, char *argv[]) /* Wait for the GPS update to propagate (we have some time) */ usleep(5000); /* Read wether the vehicle status changed */ - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); - gps_valid = vstatus.gps_valid; + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); + gps_valid = (gps.fix_type > 2); } } |