diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 23 |
1 files changed, 17 insertions, 6 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 17c085652..2f373c6db 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -153,6 +153,7 @@ static bool on_usb_power = false; static float takeoff_alt = 5.0f; static int parachute_enabled = 0; +static float eph_epv_threshold = 5.0f; static struct vehicle_status_s status; static struct actuator_armed_s armed; @@ -965,15 +966,25 @@ int commander_thread_main(int argc, char *argv[]) } /* update condition_global_position_valid */ - check_valid(global_position.timestamp, POSITION_TIMEOUT, true, &(status.condition_global_position_valid), &status_changed); + /* hysteresis for EPH/EPV*/ + bool eph_epv_good; + if (status.condition_global_position_valid) { + if (global_position.eph > eph_epv_threshold * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) { + eph_epv_good = false; + } + + } else { + if (global_position.eph < eph_epv_threshold && global_position.epv < eph_epv_threshold) { + eph_epv_good = true; + } + } + check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_epv_good, &(status.condition_global_position_valid), &status_changed); /* check if GPS fix is ok */ - static float hdop_threshold_m = 4.0f; - static float vdop_threshold_m = 8.0f; /* update home position */ if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed && - (global_position.eph < hdop_threshold_m) && (global_position.epv < vdop_threshold_m)) { + (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) { home.lat = global_position.lat; home.lon = global_position.lon; @@ -1004,7 +1015,7 @@ int commander_thread_main(int argc, char *argv[]) } /* update condition_local_position_valid and condition_local_altitude_valid */ - check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid, &(status.condition_local_position_valid), &status_changed); + check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && eph_epv_good, &(status.condition_local_position_valid), &status_changed); check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed); static bool published_condition_landed_fw = false; @@ -1322,7 +1333,7 @@ int commander_thread_main(int argc, char *argv[]) /* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */ if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid && - (global_position.eph < hdop_threshold_m) && (global_position.epv < vdop_threshold_m)) { + (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) { // TODO remove code duplication home.lat = global_position.lat; |