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author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-30 10:09:31 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-30 10:09:31 +0200 |
commit | 5146dd8ff80f6cff127fbdac27f4cb92e5954924 (patch) | |
tree | c9a3114f5b9c2b7fe0775389c7038587a027d404 /src/modules/position_estimator_inav | |
parent | 5fba00f158205c35b2f8816ca57a6475c6aed656 (diff) | |
download | px4-firmware-5146dd8ff80f6cff127fbdac27f4cb92e5954924.tar.gz px4-firmware-5146dd8ff80f6cff127fbdac27f4cb92e5954924.tar.bz2 px4-firmware-5146dd8ff80f6cff127fbdac27f4cb92e5954924.zip |
position_estimator_inav: critical bug fixed
Diffstat (limited to 'src/modules/position_estimator_inav')
-rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 41 |
1 files changed, 23 insertions, 18 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 4a4572b09..88057b323 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -429,26 +429,31 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (fds[6].revents & POLLIN) { orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps); - if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout && gps.eph_m < 4.0f) { + if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout) { /* initialize reference position if needed */ if (!ref_xy_inited) { - if (ref_xy_init_start == 0) { - ref_xy_init_start = t; - - } else if (t > ref_xy_init_start + ref_xy_init_delay) { - ref_xy_inited = true; - /* reference GPS position */ - double lat = gps.lat * 1e-7; - double lon = gps.lon * 1e-7; - - local_pos.ref_lat = gps.lat; - local_pos.ref_lon = gps.lon; - local_pos.ref_timestamp = t; - - /* initialize projection */ - map_projection_init(lat, lon); - warnx("init GPS: lat = %.10f, lon = %.10f", lat, lon); - mavlink_log_info(mavlink_fd, "[inav] init GPS: %.7f, %.7f", lat, lon); + /* require EPH < 10m */ + if (gps.eph_m < 10.0f) { + if (ref_xy_init_start == 0) { + ref_xy_init_start = t; + + } else if (t > ref_xy_init_start + ref_xy_init_delay) { + ref_xy_inited = true; + /* reference GPS position */ + double lat = gps.lat * 1e-7; + double lon = gps.lon * 1e-7; + + local_pos.ref_lat = gps.lat; + local_pos.ref_lon = gps.lon; + local_pos.ref_timestamp = t; + + /* initialize projection */ + map_projection_init(lat, lon); + warnx("init GPS: lat = %.10f, lon = %.10f", lat, lon); + mavlink_log_info(mavlink_fd, "[inav] init GPS: %.7f, %.7f", lat, lon); + } + } else { + ref_xy_init_start = 0; } } |