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| author | Johan Jansen <jnsn.johan@gmail.com> | 2015-02-12 11:49:45 +0100 |
|---|---|---|
| committer | Johan Jansen <jnsn.johan@gmail.com> | 2015-02-12 11:49:45 +0100 |
| commit | 76901c6414ac8612552546aedc194089dc45c510 (patch) | |
| tree | 6965b65a0eaa292ea938287438c4d15b2661e621 /src/modules/commander | |
| parent | f5534dd5c195f80354d0ae24802ff4d796633623 (diff) | |
| download | px4-firmware-76901c6414ac8612552546aedc194089dc45c510.tar.gz px4-firmware-76901c6414ac8612552546aedc194089dc45c510.tar.bz2 px4-firmware-76901c6414ac8612552546aedc194089dc45c510.zip | |
AttPosEKF: Moved data collection to separate function
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 b2d9c9da3..242d8a486 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1395,11 +1395,10 @@ int commander_thread_main(int argc, char *argv[]) if(status.condition_global_position_valid) { set_tune_override(TONE_GPS_WARNING_TUNE); status_changed = true; + status.condition_global_position_valid = false; } - - status.condition_global_position_valid = false; } - else if(hrt_absolute_time() > POSITION_TIMEOUT) { + else if(global_position.timestamp != 0) { //Got good global position estimate if(!status.condition_global_position_valid) { status_changed = true; |