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position_estimator_inav: critical bug fixed

This commit is contained in:
Anton Babushkin 2013-08-30 10:09:31 +02:00
parent 5fba00f158
commit 5146dd8ff8
1 changed files with 20 additions and 15 deletions
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35
src/modules/position_estimator_inav/position_estimator_inav_main.c
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@ -429,26 +429,31 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (fds[6].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps);
if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout && gps.eph_m < 4.0f) {
if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout) {
/* initialize reference position if needed */
if (!ref_xy_inited) {
if (ref_xy_init_start == 0) {
ref_xy_init_start = t;
/* require EPH < 10m */
if (gps.eph_m < 10.0f) {
if (ref_xy_init_start == 0) {
ref_xy_init_start = t;
} else if (t > ref_xy_init_start + ref_xy_init_delay) {
ref_xy_inited = true;
/* reference GPS position */
double lat = gps.lat * 1e-7;
double lon = gps.lon * 1e-7;
} else if (t > ref_xy_init_start + ref_xy_init_delay) {
ref_xy_inited = true;
/* reference GPS position */
double lat = gps.lat * 1e-7;
double lon = gps.lon * 1e-7;
local_pos.ref_lat = gps.lat;
local_pos.ref_lon = gps.lon;
local_pos.ref_timestamp = t;
local_pos.ref_lat = gps.lat;
local_pos.ref_lon = gps.lon;
local_pos.ref_timestamp = t;
/* initialize projection */
map_projection_init(lat, lon);
warnx("init GPS: lat = %.10f, lon = %.10f", lat, lon);
mavlink_log_info(mavlink_fd, "[inav] init GPS: %.7f, %.7f", lat, lon);
/* initialize projection */
map_projection_init(lat, lon);
warnx("init GPS: lat = %.10f, lon = %.10f", lat, lon);
mavlink_log_info(mavlink_fd, "[inav] init GPS: %.7f, %.7f", lat, lon);
}
} else {
ref_xy_init_start = 0;
}
}