dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Increase GPS position timeout to real-life timeouts. More work needed.

This commit is contained in:
Lorenz Meier 2014-07-27 23:43:39 +02:00
parent 5d36381dc5
commit 8e12d79ef4
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/commander/commander.cpp
View File

@ -124,7 +124,7 @@ extern struct system_load_s system_load;
#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define POSITION_TIMEOUT (600 * 1000) /**< consider the local or global position estimate invalid after 600ms */
#define POSITION_TIMEOUT (2 * 1000 * 1000) /**< consider the local or global position estimate invalid after 600ms */
#define FAILSAFE_DEFAULT_TIMEOUT (3 * 1000 * 1000) /**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
#define RC_TIMEOUT 500000
#define DL_TIMEOUT 5 * 1000* 1000
@ -1111,7 +1111,7 @@ int commander_thread_main(int argc, char *argv[])
bool eph_epv_good;
if (status.condition_global_position_valid) {
if (global_position.eph > eph_epv_threshold * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) {
if (global_position.eph > eph_epv_threshold * 2.5f || global_position.epv > eph_epv_threshold * 2.5f) {
eph_epv_good = false;
} else {