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Merged home_fix

This commit is contained in:
Lorenz Meier 2014-04-22 01:42:12 +02:00
parent 3a4874b22e db15e2811e
commit 119dfc44e2
1 changed files with 2 additions and 3 deletions
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5
src/modules/commander/commander.cpp
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@ -1040,13 +1040,12 @@ int commander_thread_main(int argc, char *argv[])
if (!status.condition_home_position_valid && gps_position.fix_type >= 3 &&
(gps_position.eph_m < hdop_threshold_m) && (gps_position.epv_m < vdop_threshold_m) &&
(hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed
&& global_position.global_valid) {
(hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed) {
/* copy position data to uORB home message, store it locally as well */
home.lat = gps_position.lat / (double)1e7;
home.lon = gps_position.lon / (double)1e7;
home.alt = gps_position.alt;
home.alt = gps_position.alt / (float)1e3;
warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.alt);