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Merge pull request #970 from PX4/flow_no_gps

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Allow POSCTL with only PX4FLOW (without GPS)
This commit is contained in:
Lorenz Meier
2014-05-20 08:35:42 -07:00
parent 184af29a50 692e8f84a9
commit 4fdc016308
5 changed files with 51 additions and 10 deletions
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src/modules/commander/commander.cpp
+20 -1
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@@ -1012,7 +1012,26 @@ int commander_thread_main(int argc, char *argv[])
}
/* update condition_local_position_valid and condition_local_altitude_valid */
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && eph_epv_good, &(status.condition_local_position_valid), &status_changed);
/* hysteresis for EPH */
bool local_eph_good;
if (status.condition_global_position_valid) {
if (local_position.eph > eph_epv_threshold * 2.0f) {
local_eph_good = false;
} else {
local_eph_good = true;
}
} else {
if (local_position.eph < eph_epv_threshold) {
local_eph_good = true;
} else {
local_eph_good = false;
}
}
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && local_eph_good, &(status.condition_local_position_valid), &status_changed);
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
static bool published_condition_landed_fw = false;