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 f908d7a3b..62cee145e 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -619,13 +619,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* hysteresis for GPS quality */ if (gps_valid) { - if (gps.eph_m > max_eph_epv || 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 = false; mavlink_log_info(mavlink_fd, "[inav] GPS signal lost"); } } else { - if (gps.eph_m < max_eph_epv * 0.7f && gps.epv_m < max_eph_epv * 0.7f && gps.fix_type >= 3) { + if (gps.eph < max_eph_epv * 0.7f && gps.epv < max_eph_epv * 0.7f && gps.fix_type >= 3) { gps_valid = true; reset_est = true; mavlink_log_info(mavlink_fd, "[inav] GPS signal found"); @@ -705,8 +705,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* save rotation matrix at this moment */ memcpy(R_gps, R_buf[est_i], sizeof(R_gps)); - 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 { @@ -859,7 +859,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) inertial_filter_correct(corr_baro, dt, z_est, 0, params.w_z_baro); if (use_gps_z) { - epv = fminf(epv, gps.epv_m); + epv = fminf(epv, gps.epv); inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p); } @@ -894,7 +894,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } if (use_gps_xy) { - eph = fminf(eph, gps.eph_m); + eph = fminf(eph, gps.eph); inertial_filter_correct(corr_gps[0][0], dt, x_est, 0, w_xy_gps_p); inertial_filter_correct(corr_gps[1][0], dt, y_est, 0, w_xy_gps_p); |