fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-06 03:21:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

position_estimator_inav: critical bug fixed

Browse Source
This commit is contained in:
Anton Babushkin
2013-08-30 10:09:31 +02:00
parent 5fba00f158
commit 5146dd8ff8
1 changed files with 20 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/position_estimator_inav/position_estimator_inav_main.c
+20 -15
View File
@@ -429,26 +429,31 @@ 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 && gps.eph_m < 4.0f) { if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout) {
/* initialize reference position if needed */ /* initialize reference position if needed */
if (!ref_xy_inited) { if (!ref_xy_inited) {
if (ref_xy_init_start == 0) { /* require EPH < 10m */
ref_xy_init_start = t; if (gps.eph_m < 10.0f) {
if (ref_xy_init_start == 0) {
ref_xy_init_start = t;
} else if (t > ref_xy_init_start + ref_xy_init_delay) { } else if (t > ref_xy_init_start + ref_xy_init_delay) {
ref_xy_inited = true; ref_xy_inited = true;
/* reference GPS position */ /* reference GPS position */
double lat = gps.lat * 1e-7; double lat = gps.lat * 1e-7;
double lon = gps.lon * 1e-7; double lon = gps.lon * 1e-7;
local_pos.ref_lat = gps.lat; local_pos.ref_lat = gps.lat;
local_pos.ref_lon = gps.lon; local_pos.ref_lon = gps.lon;
local_pos.ref_timestamp = t; local_pos.ref_timestamp = t;
/* initialize projection */ /* initialize projection */
map_projection_init(lat, lon); map_projection_init(lat, lon);
warnx("init GPS: lat = %.10f, lon = %.10f", lat, lon); warnx("init GPS: lat = %.10f, lon = %.10f", lat, lon);
mavlink_log_info(mavlink_fd, "[inav] init GPS: %.7f, %.7f", lat, lon); mavlink_log_info(mavlink_fd, "[inav] init GPS: %.7f, %.7f", lat, lon);
}
} else {
ref_xy_init_start = 0;
} }
} }