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Merge pull request #18 from swissfang/gpschecklocation 

commander: move position of gps failure check
This commit is contained in:
Julian Oes 2014-09-22 06:35:36 +10:00
parent e65ec1b98b 980175bb60
commit 323b6f10c3
1 changed files with 17 additions and 18 deletions
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35
src/modules/commander/commander.cpp
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@ -1205,24 +1205,6 @@ int commander_thread_main(int argc, char *argv[])
check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid), &status_changed);
/* check if GPS fix is ok */
if (gps_position.fix_type >= 3 && //XXX check eph and epv ?
hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT) {
/* handle the case where gps was regained */
if (status.gps_failure) {
status.gps_failure = false;
status_changed = true;
mavlink_log_critical(mavlink_fd, "gps regained");
}
} else {
if (!status.gps_failure) {
status.gps_failure = true;
status_changed = true;
mavlink_log_critical(mavlink_fd, "gps fix lost");
}
}
/* update home position */
if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed &&
(global_position.eph < eph_threshold) && (global_position.epv < epv_threshold)) {
@ -1434,6 +1416,23 @@ int commander_thread_main(int argc, char *argv[])
globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, (float)gps_position.alt * 1.0e-3f, hrt_absolute_time());
}
/* check if GPS fix is ok */
if (gps_position.fix_type >= 3 && //XXX check eph and epv ?
hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT) {
/* handle the case where gps was regained */
if (status.gps_failure) {
status.gps_failure = false;
status_changed = true;
mavlink_log_critical(mavlink_fd, "gps regained");
}
} else {
if (!status.gps_failure) {
status.gps_failure = true;
status_changed = true;
mavlink_log_critical(mavlink_fd, "gps fix lost");
}
}
/* start mission result check */
orb_check(mission_result_sub, &updated);