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AP_NavEKF: Update GPS check description and default setting 

Previous check default only checked the number of satellites and horizontal position accuracy.
Updated default value also checks HDoP and speed accuracy.
This commit is contained in:
Paul Riseborough 2015-10-09 01:23:22 -07:00 committed by Randy Mackay
parent db4dfce7b1
commit a3a1dabb94
1 changed files with 2 additions and 2 deletions
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libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -386,10 +386,10 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Param: GPS_CHECK
// @DisplayName: GPS preflight check
// @Description: 1 byte bitmap of GPS preflight checks to perform. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 1 to check just the number of satellites and HDoP. Set to 10 for the best checking that will still allow checks to pass when the copter is moving, eg launch from a boat.
// @Description: 1 byte bitmap of GPS preflight checks to perform. Set to 0 to bypass all checks. Set to 255 perform all checks. Set to 3 to check just the number of satellites and HDoP. Set to 31 for the most rigorous checks that will still allow checks to pass when the copter is moving, eg launch from a boat.
// @Bitmask: 0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed
// @User: Advanced
AP_GROUPINFO("GPS_CHECK", 33, NavEKF, _gpsCheck, 10),
AP_GROUPINFO("GPS_CHECK", 33, NavEKF, _gpsCheck, 31),
AP_GROUPEND
};