diff options
Diffstat (limited to 'src/modules/position_estimator_inav')
| -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 fdc3233e0..4260623a3 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -597,13 +597,13 @@ 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"); @@ -678,11 +678,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) corr_gps[2][1] = 0.0f; } - eph = fminf(eph, gps.eph_m); - epv = fminf(epv, gps.epv_m); + eph = fminf(eph, gps.eph); + epv = fminf(epv, gps.epv); - 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 { |