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AHRS: add support for GPS fix type 2D

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Randy Mackay 2013-03-25 16:24:59 +09:00 committed by rmackay9
parent d7454bb09e
commit 24044dc0c4
3 changed files with 4 additions and 4 deletions
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2
libraries/AP_AHRS/AP_AHRS.cpp
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@ -103,7 +103,7 @@ bool AP_AHRS::airspeed_estimate(float *airspeed_ret)
{
if (_airspeed && _airspeed->use()) {
*airspeed_ret = _airspeed->get_airspeed();
if (_wind_max > 0 && _gps && _gps->status() == GPS::GPS_OK) {
if (_wind_max > 0 && _gps && _gps->status() >= GPS::GPS_OK_FIX_2D) {
// constrain the airspeed by the ground speed
// and AHRS_WIND_MAX
*airspeed_ret = constrain(*airspeed_ret,

2
libraries/AP_AHRS/AP_AHRS.h
View File

@ -120,7 +120,7 @@ public:
// otherwise false. This only updates the lat and lng fields
// of the Location
bool get_position(struct Location *loc) {
if (!_gps || _gps->status() != GPS::GPS_OK) {
if (!_gps || _gps->status() <= GPS::NO_FIX) {
return false;
}
loc->lat = _gps->latitude;

4
libraries/AP_AHRS/AP_AHRS_DCM.cpp
View File

@ -281,7 +281,7 @@ AP_AHRS_DCM::_P_gain(float spin_rate)
// return true if we have and should use GPS
bool AP_AHRS_DCM::have_gps(void)
{
if (!_gps || _gps->status() != GPS::GPS_OK || !_gps_use) {
if (!_gps || _gps->status() <= GPS::NO_FIX || !_gps_use) {
return false;
}
return true;
@ -730,7 +730,7 @@ bool AP_AHRS_DCM::airspeed_estimate(float *airspeed_ret)
ret = true;
}
if (ret && _wind_max > 0 && _gps && _gps->status() == GPS::GPS_OK) {
if (ret && _wind_max > 0 && _gps && _gps->status() >= GPS::GPS_OK_FIX_2D) {
// constrain the airspeed by the ground speed
// and AHRS_WIND_MAX
*airspeed_ret = constrain(*airspeed_ret,