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AntennaTracker: refuse to track (0;0) 

This prevents erratic movements if the vehicle's GPS gives out zeroes at startup
This commit is contained in:
Oleksiy Protas 2024-09-17 19:15:17 +03:00 committed by Peter Barker
parent 3d47f01dd4
commit 231eebe553
1 changed files with 6 additions and 1 deletions
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7
AntennaTracker/tracking.cpp
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@ -131,6 +131,11 @@ void Tracker::update_tracking(void)
*/ */
void Tracker::tracking_update_position(const mavlink_global_position_int_t &msg) void Tracker::tracking_update_position(const mavlink_global_position_int_t &msg)
{ {
// reject (0;0) coordinates
if (!msg.lat && !msg.lon) {
return;
}
vehicle.location.lat = msg.lat; vehicle.location.lat = msg.lat;
vehicle.location.lng = msg.lon; vehicle.location.lng = msg.lon;
vehicle.location.alt = msg.alt/10; vehicle.location.alt = msg.alt/10;
@ -139,7 +144,7 @@ void Tracker::tracking_update_position(const mavlink_global_position_int_t &msg)
vehicle.last_update_us = AP_HAL::micros(); vehicle.last_update_us = AP_HAL::micros();
vehicle.last_update_ms = AP_HAL::millis(); vehicle.last_update_ms = AP_HAL::millis();
#if HAL_LOGGING_ENABLED #if HAL_LOGGING_ENABLED
// log vehicle as GPS2 // log vehicle as VPOS
if (should_log(MASK_LOG_GPS)) { if (should_log(MASK_LOG_GPS)) {
Log_Write_Vehicle_Pos(vehicle.location.lat, vehicle.location.lng, vehicle.location.alt, vehicle.vel); Log_Write_Vehicle_Pos(vehicle.location.lat, vehicle.location.lng, vehicle.location.alt, vehicle.vel);
} }