diff options
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 36 |
1 files changed, 15 insertions, 21 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index f2e72dd0c..242d8a486 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1388,30 +1388,24 @@ int commander_thread_main(int argc, char *argv[]) orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position); } - /* update condition_global_position_valid */ - /* hysteresis for EPH/EPV */ - bool eph_good; - - if (status.condition_global_position_valid) { - if (global_position.eph > eph_threshold * 2.5f) { - eph_good = false; - - } else { - eph_good = true; + //update condition_global_position_valid + //Global positions are only published by the estimators if they are valid + if(hrt_absolute_time() - global_position.timestamp > POSITION_TIMEOUT) { + //We have had no good fix for POSITION_TIMEOUT amount of time + if(status.condition_global_position_valid) { + set_tune_override(TONE_GPS_WARNING_TUNE); + status_changed = true; + status.condition_global_position_valid = false; } - - } else { - if (global_position.eph < eph_threshold) { - eph_good = true; - - } else { - eph_good = false; + } + else if(global_position.timestamp != 0) { + //Got good global position estimate + if(!status.condition_global_position_valid) { + status_changed = true; + status.condition_global_position_valid = true; } } - check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid), - &status_changed); - /* update condition_local_position_valid and condition_local_altitude_valid */ /* hysteresis for EPH */ bool local_eph_good; @@ -2119,7 +2113,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu /* vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL handled as vehicle_status_s::ARMING_STATE_ARMED_ERROR / vehicle_status_s::ARMING_STATE_STANDBY_ERROR */ } else { - if (status_local->condition_local_position_valid) { + if (status_local->condition_global_position_valid) { rgbled_set_color(RGBLED_COLOR_GREEN); } else { |