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position_estimator_inav: requre EPH < 5m to set GPS reference

This commit is contained in:
Anton Babushkin 2013-08-26 13:52:10 +02:00
parent 00a2a0370e
commit bf9282c988
1 changed files with 1 additions and 1 deletions
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2
src/modules/position_estimator_inav/position_estimator_inav_main.c
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@ -429,7 +429,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (fds[6].revents & POLLIN) { if (fds[6].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps); orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps);
if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout) { if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout && gps.eph_m < 5.0f) {
/* initialize reference position if needed */ /* initialize reference position if needed */
if (!ref_xy_inited) { if (!ref_xy_inited) {
if (ref_xy_init_start == 0) { if (ref_xy_init_start == 0) {