diff options
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 7 |
1 files changed, 7 insertions, 0 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 81f938719..c0cfac880 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -508,6 +508,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (gps_valid) { inertial_filter_correct(gps_corr[0][0], dt, x_est, 0, params.w_pos_gps_p); inertial_filter_correct(gps_corr[1][0], dt, y_est, 0, params.w_pos_gps_p); + if (gps.vel_ned_valid && t < gps.timestamp_velocity + gps_timeout) { inertial_filter_correct(gps_corr[0][1], dt, x_est, 1, params.w_pos_gps_v); inertial_filter_correct(gps_corr[1][1], dt, y_est, 1, params.w_pos_gps_v); @@ -554,6 +555,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* publish global position */ global_pos.valid = local_pos.global_xy; + if (local_pos.global_xy) { double est_lat, est_lon; map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon); @@ -561,21 +563,26 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) global_pos.lon = (int32_t)(est_lon * 1e7); global_pos.time_gps_usec = gps.time_gps_usec; } + /* set valid values even if position is not valid */ if (local_pos.v_xy_valid) { global_pos.vx = local_pos.vx; global_pos.vy = local_pos.vy; global_pos.hdg = atan2f(local_pos.vy, local_pos.vx); } + if (local_pos.z_valid) { global_pos.relative_alt = -local_pos.z; } + if (local_pos.global_z) { global_pos.alt = local_pos.ref_alt - local_pos.z; } + if (local_pos.v_z_valid) { global_pos.vz = local_pos.vz; } + global_pos.timestamp = t; orb_publish(ORB_ID(vehicle_global_position), vehicle_global_position_pub, &global_pos); |