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position_estimator_inav: publish placeholder values for velocity accuracy

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priseborough
2017-05-03 08:37:14 +02:00
committed by Lorenz Meier
parent 1f5908786e
commit 68c1ffd3e5
1 changed files with 7 additions and 0 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.cpp
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@@ -1342,6 +1342,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
local_pos.dist_bottom_valid = dist_bottom_valid; local_pos.dist_bottom_valid = dist_bottom_valid;
local_pos.eph = eph; local_pos.eph = eph;
local_pos.epv = epv; local_pos.epv = epv;
// TODO provide calculated values for these
local_pos.evh = 0.0f;
local_pos.evv = 0.0f;
if (local_pos.dist_bottom_valid) { if (local_pos.dist_bottom_valid) {
local_pos.dist_bottom = dist_ground; local_pos.dist_bottom = dist_ground;
@@ -1373,6 +1376,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
global_pos.eph = eph; global_pos.eph = eph;
global_pos.epv = epv; global_pos.epv = epv;
// TODO provide calculated values for these
global_pos.evh = 0.0f;
global_pos.evv = 0.0f;
if (terrain_estimator.is_valid()) { if (terrain_estimator.is_valid()) {
global_pos.terrain_alt = global_pos.alt - terrain_estimator.get_distance_to_ground(); global_pos.terrain_alt = global_pos.alt - terrain_estimator.get_distance_to_ground();
global_pos.terrain_alt_valid = true; global_pos.terrain_alt_valid = true;