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Merge branch 'master' of github.com:PX4/Firmware

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This commit is contained in:
Lorenz Meier
2013-02-18 16:46:05 +01:00
parent 104d5aa365 520a2b4174
commit 663ca58063
224 changed files with 8713 additions and 9522 deletions
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apps/commander/commander.c
+13 -13
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@@ -1465,9 +1465,6 @@ int commander_thread_main(int argc, char *argv[])
} else {
current_status.flag_external_manual_override_ok = true;
}
} else {
warnx("ARMED, rejecting sys type change\n");
}
}
@@ -1684,12 +1681,13 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
/* check for first, long-term and valid GPS lock -> set home position */
float hdop_m = gps_position.eph / 100.0f;
float vdop_m = gps_position.epv / 100.0f;
float hdop_m = gps_position.eph_m;
float vdop_m = gps_position.epv_m;
/* check if gps fix is ok */
// XXX magic number
float dop_threshold_m = 2.0f;
float hdop_threshold_m = 4.0f;
float vdop_threshold_m = 8.0f;
/*
* If horizontal dilution of precision (hdop / eph)
@@ -1700,10 +1698,12 @@ int commander_thread_main(int argc, char *argv[])
* the system is currently not armed, set home
* position to the current position.
*/
if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < dop_threshold_m)
&& (vdop_m < dop_threshold_m)
if (gps_position.fix_type == GPS_FIX_TYPE_3D
&& (hdop_m < hdop_threshold_m)
&& (vdop_m < vdop_threshold_m)
&& !home_position_set
&& (hrt_absolute_time() - gps_position.timestamp < 2000000)
&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
&& !current_status.flag_system_armed) {
warnx("setting home position");
@@ -1712,11 +1712,11 @@ int commander_thread_main(int argc, char *argv[])
home.lon = gps_position.lon;
home.alt = gps_position.alt;
home.eph = gps_position.eph;
home.epv = gps_position.epv;
home.eph_m = gps_position.eph_m;
home.epv_m = gps_position.epv_m;
home.s_variance = gps_position.s_variance;
home.p_variance = gps_position.p_variance;
home.s_variance_m_s = gps_position.s_variance_m_s;
home.p_variance_m = gps_position.p_variance_m;
/* announce new home position */
if (home_pub > 0) {