From bf9282c9882882a5fc4adf680a6ecc5e655bb0e8 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 26 Aug 2013 13:52:10 +0200 Subject: position_estimator_inav: requre EPH < 5m to set GPS reference --- src/modules/position_estimator_inav/position_estimator_inav_main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 af6a704a2..bc6e0b020 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -429,7 +429,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (fds[6].revents & POLLIN) { orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps); - if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout) { + if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout && gps.eph_m < 5.0f) { /* initialize reference position if needed */ if (!ref_xy_inited) { if (ref_xy_init_start == 0) { -- cgit v1.2.3