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Made threshold a bit nicer, still a magic number

This commit is contained in:
Lorenz Meier 2013-01-19 19:32:44 +01:00
parent c9c64b3f25
commit 4b9916eded
1 changed files with 5 additions and 4 deletions
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9
apps/commander/commander.c
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@ -1678,11 +1678,12 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
/* check for first, long-term and valid GPS lock -> set home position */
float hdop = gps_position.eph / 100.0f;
float vdop = gps_position.epv / 100.0f;
float hdop_m = gps_position.eph / 100.0f;
float vdop_m = gps_position.epv / 100.0f;
/* check if gps fix is ok */
// XXX magic number
float dop_threshold_m = 2.0f;
/*
* If horizontal dilution of precision (hdop / eph)
@ -1693,8 +1694,8 @@ int commander_thread_main(int argc, char *argv[])
* the system is currently not armed, set home
* position to the current position.
*/
if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop < 4.0f)
&& (vdop < 4.0f)
if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop < dop_threshold_m)
&& (vdop_m < dop_threshold_m)
&& !home_position_set
&& (hrt_absolute_time() - gps_position.timestamp < 2000000)
&& !current_status.flag_system_armed) {