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AP_GPS: prevent UAVCAN GPS from giving infinite accuracy values

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this can happen due to the complex encodings of accuracies in UAVCAN
This commit is contained in:
Andrew Tridgell 2020-11-23 09:32:25 +11:00
parent f8beca190c
commit d359cdff3f
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
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@ -427,6 +427,12 @@ bool AP_GPS_UAVCAN::read(void)
if (_new_data) { if (_new_data) {
_new_data = false; _new_data = false;
// the encoding of accuracies in UAVCAN can result in infinite
// values. These cause problems with blending. Use 1000m and 1000m/s instead
interim_state.horizontal_accuracy = MIN(interim_state.horizontal_accuracy, 1000.0);
interim_state.vertical_accuracy = MIN(interim_state.vertical_accuracy, 1000.0);
interim_state.speed_accuracy = MIN(interim_state.speed_accuracy, 1000.0);
state = interim_state; state = interim_state;
return true; return true;