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Copter: replace inav's position_ok with get_filter_status

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This commit is contained in:
Randy Mackay 2015-01-02 17:09:14 +09:00
parent c24e997fb2
commit a4f71e5946
6 changed files with 6 additions and 6 deletions
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2
ArduCopter/control_auto.pde
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@ -20,7 +20,7 @@
// auto_init - initialise auto controller // auto_init - initialise auto controller
static bool auto_init(bool ignore_checks) static bool auto_init(bool ignore_checks)
{ {
if ((GPS_ok() && inertial_nav.position_ok() && mission.num_commands() > 1) || ignore_checks) { if ((GPS_ok() && inertial_nav.get_filter_status().flags.horiz_pos_abs && mission.num_commands() > 1) || ignore_checks) {
auto_mode = Auto_Loiter; auto_mode = Auto_Loiter;
// stop ROI from carrying over from previous runs of the mission // stop ROI from carrying over from previous runs of the mission

2
ArduCopter/control_circle.pde
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@ -7,7 +7,7 @@
// circle_init - initialise circle controller flight mode // circle_init - initialise circle controller flight mode
static bool circle_init(bool ignore_checks) static bool circle_init(bool ignore_checks)
{ {
if ((GPS_ok() && inertial_nav.position_ok()) || ignore_checks) { if ((GPS_ok() && inertial_nav.get_filter_status().flags.horiz_pos_abs) || ignore_checks) {
circle_pilot_yaw_override = false; circle_pilot_yaw_override = false;
// initialize speeds and accelerations // initialize speeds and accelerations

2
ArduCopter/control_loiter.pde
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@ -33,7 +33,7 @@ static void loiter_run()
float target_climb_rate = 0; float target_climb_rate = 0;
// if not auto armed set throttle to zero and exit immediately // if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) { if(!ap.auto_armed || !inertial_nav.get_filter_status().flags.horiz_pos_abs) {
wp_nav.init_loiter_target(); wp_nav.init_loiter_target();
attitude_control.relax_bf_rate_controller(); attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading(); attitude_control.set_yaw_target_to_current_heading();

2
ArduCopter/control_poshold.pde
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@ -154,7 +154,7 @@ static void poshold_run()
const Vector3f& vel = inertial_nav.get_velocity(); const Vector3f& vel = inertial_nav.get_velocity();
// if not auto armed set throttle to zero and exit immediately // if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) { if(!ap.auto_armed || !inertial_nav.get_filter_status().flags.horiz_pos_abs) {
wp_nav.init_loiter_target(); wp_nav.init_loiter_target();
attitude_control.relax_bf_rate_controller(); attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading(); attitude_control.set_yaw_target_to_current_heading();

2
ArduCopter/control_rtl.pde
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@ -261,7 +261,7 @@ static void rtl_descent_run()
float target_yaw_rate = 0; float target_yaw_rate = 0;
// if not auto armed set throttle to zero and exit immediately // if not auto armed set throttle to zero and exit immediately
if(!ap.auto_armed || !inertial_nav.position_ok()) { if(!ap.auto_armed || !inertial_nav.get_filter_status().flags.horiz_pos_abs) {
attitude_control.relax_bf_rate_controller(); attitude_control.relax_bf_rate_controller();
attitude_control.set_yaw_target_to_current_heading(); attitude_control.set_yaw_target_to_current_heading();
attitude_control.set_throttle_out(0, false); attitude_control.set_throttle_out(0, false);

2
ArduCopter/navigation.pde
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@ -17,7 +17,7 @@ static void run_nav_updates(void)
// calc_position - get lat and lon positions from inertial nav library // calc_position - get lat and lon positions from inertial nav library
static void calc_position(){ static void calc_position(){
if( inertial_nav.position_ok() ) { if (inertial_nav.get_filter_status().flags.horiz_pos_abs) {
// pull position from interial nav library // pull position from interial nav library
current_loc.lng = inertial_nav.get_longitude(); current_loc.lng = inertial_nav.get_longitude();
current_loc.lat = inertial_nav.get_latitude(); current_loc.lat = inertial_nav.get_latitude();