diff options
Diffstat (limited to 'src/modules/position_estimator_inav/position_estimator_inav_main.c')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 12 |
1 files changed, 6 insertions, 6 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 368424853..54c8a7d17 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -592,13 +592,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* hysteresis for GPS quality */ if (gps_valid) { - if (gps.eph_m > max_eph_epv * 1.5f || gps.epv_m > max_eph_epv * 1.5f || gps.fix_type < 3) { + if (gps.eph > max_eph_epv * 1.5f || gps.epv > max_eph_epv * 1.5f || gps.fix_type < 3) { gps_valid = false; mavlink_log_info(mavlink_fd, "[inav] GPS signal lost"); } } else { - if (gps.eph_m < max_eph_epv && gps.epv_m < max_eph_epv && gps.fix_type >= 3) { + if (gps.eph < max_eph_epv && gps.epv < max_eph_epv && gps.fix_type >= 3) { gps_valid = true; reset_est = true; mavlink_log_info(mavlink_fd, "[inav] GPS signal found"); @@ -673,8 +673,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) corr_gps[2][1] = 0.0f; } - w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph_m); - w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv_m); + w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph); + w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv); } } else { @@ -951,8 +951,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) global_pos.yaw = local_pos.yaw; // TODO implement dead-reckoning - global_pos.eph = gps.eph_m; - global_pos.epv = gps.epv_m; + global_pos.eph = gps.eph; + global_pos.epv = gps.epv; if (vehicle_global_position_pub < 0) { vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos); |