From affa3af4e6415d1f68dd6242d0ded6e5ed8a1b1d Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 3 Oct 2012 13:39:26 +0200 Subject: Clean 250 Hz updates in filter, partial updates enabled --- apps/position_estimator/position_estimator_main.c | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) (limited to 'apps/position_estimator') diff --git a/apps/position_estimator/position_estimator_main.c b/apps/position_estimator/position_estimator_main.c index e061256fc..f8390f100 100644 --- a/apps/position_estimator/position_estimator_main.c +++ b/apps/position_estimator/position_estimator_main.c @@ -261,6 +261,7 @@ int position_estimator_main(int argc, char *argv[]) /* subscribe to vehicle status, attitude, gps */ struct vehicle_gps_position_s gps; + gps.fix_type = 0; struct vehicle_status_s vstatus; struct vehicle_attitude_s att; @@ -283,8 +284,8 @@ int position_estimator_main(int argc, char *argv[]) /* Wait for the GPS update to propagate (we have some time) */ usleep(5000); /* Read wether the vehicle status changed */ - orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vstatus); - gps_valid = vstatus.gps_valid; + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); + gps_valid = (gps.fix_type > 2); } } -- cgit v1.2.3