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add simplistic gps failure detection

This commit is contained in:
Thomas Gubler 2014-07-27 00:55:43 +02:00
parent c5b97fdb1f
commit db5d668439
2 changed files with 17 additions and 0 deletions
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16
src/modules/commander/commander.cpp
View File

@ -1135,6 +1135,22 @@ int commander_thread_main(int argc, char *argv[])
check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_epv_good, &(status.condition_global_position_valid), &status_changed);
/* check if GPS fix is ok */
if (gps_position.fix_type >= 3 && //XXX check eph and epv ?
hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT) {
/* handle the case where gps was regained */
if (status.gps_failure) {
status.gps_failure = false;
status_changed = true;
mavlink_log_critical(mavlink_fd, "gps regained");
}
} else {
if (!status.gps_failure) {
status.gps_failure = true;
status_changed = true;
mavlink_log_critical(mavlink_fd, "gps fix lost");
}
}
/* update home position */
if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed &&

1
src/modules/uORB/topics/vehicle_status.h
View File

@ -206,6 +206,7 @@ struct vehicle_status_s {
uint8_t data_link_lost_counter; /**< counts unique data link lost events */
bool engine_failure; /** Set to true if an engine failure is detected */
bool gps_failure; /** Set to true if a gps failure is detected */
bool offboard_control_signal_found_once;
bool offboard_control_signal_lost;