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Conditions where set wrongly in the first 2s after boot

This commit is contained in:
Julian Oes 2013-06-24 09:50:55 +02:00
parent 53dec130c4
commit 60e9ea977d
1 changed files with 3 additions and 3 deletions
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6
src/modules/commander/commander.c
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@ -1658,7 +1658,7 @@ int commander_thread_main(int argc, char *argv[])
/* check for global or local position updates, set a timeout of 2s */ /* check for global or local position updates, set a timeout of 2s */
if (hrt_absolute_time() - last_global_position_time < 2000000) { if (hrt_absolute_time() - last_global_position_time < 2000000 && hrt_absolute_time() > 2000000) {
current_status.condition_global_position_valid = true; current_status.condition_global_position_valid = true;
// XXX check for controller status and home position as well // XXX check for controller status and home position as well
@ -1666,7 +1666,7 @@ int commander_thread_main(int argc, char *argv[])
current_status.condition_global_position_valid = false; current_status.condition_global_position_valid = false;
} }
if (hrt_absolute_time() - last_local_position_time < 2000000) { if (hrt_absolute_time() - last_local_position_time < 2000000 && hrt_absolute_time() > 2000000) {
current_status.condition_local_position_valid = true; current_status.condition_local_position_valid = true;
// XXX check for controller status and home position as well // XXX check for controller status and home position as well
@ -1675,7 +1675,7 @@ int commander_thread_main(int argc, char *argv[])
} }
/* Check for valid airspeed/differential pressure measurements */ /* Check for valid airspeed/differential pressure measurements */
if (hrt_absolute_time() - last_diff_pres_time < 2000000) { if (hrt_absolute_time() - last_diff_pres_time < 2000000 && hrt_absolute_time() > 2000000) {
current_status.condition_airspeed_valid = true; current_status.condition_airspeed_valid = true;
} else { } else {