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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-22 01:36:32 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-22 01:36:32 +0200 |
| commit | db15e2811ea01dd023ae930e6e7a73c1a370cecf (patch) | |
| tree | 1366c10016ece56b2861a932becbba6460a47d12 /src/modules/commander | |
| parent | 37b133e231e945c978dd66fd5daed0f12caa8073 (diff) | |
| download | px4-firmware-db15e2811ea01dd023ae930e6e7a73c1a370cecf.tar.gz px4-firmware-db15e2811ea01dd023ae930e6e7a73c1a370cecf.tar.bz2 px4-firmware-db15e2811ea01dd023ae930e6e7a73c1a370cecf.zip | |
commander: Fix altitude initialisation, do not depend on global pos valid flag.
Diffstat (limited to 'src/modules/commander')
| -rw-r--r-- | src/modules/commander/commander.cpp | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 7ac7aff0f..077184bfb 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1088,13 +1088,12 @@ int commander_thread_main(int argc, char *argv[]) if (!status.condition_home_position_valid && gps_position.fix_type >= 3 && (gps_position.eph_m < hdop_threshold_m) && (gps_position.epv_m < vdop_threshold_m) && - (hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed - && global_position.global_valid) { + (hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed) { /* copy position data to uORB home message, store it locally as well */ home.lat = gps_position.lat / (double)1e7; home.lon = gps_position.lon / (double)1e7; - home.alt = gps_position.alt; + home.alt = gps_position.alt / (float)1e3; warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.alt); mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.alt); |