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commander: don't require good EPH for local_position_valid, position_estimator_inav: estimate EPH/EPV and publish it in local position topic

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This commit is contained in:
Anton Babushkin
2014-05-16 22:12:07 +02:00
parent a72015c260
commit 692e8f84a9
5 changed files with 51 additions and 10 deletions
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src/modules/sdlog2/sdlog2.c
+8 -2
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@@ -1119,10 +1119,16 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7;
log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7;
log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
log_msg.body.log_LPOS.pos_flags = (buf.local_pos.xy_valid ? 1 : 0) |
(buf.local_pos.z_valid ? 2 : 0) |
(buf.local_pos.v_xy_valid ? 4 : 0) |
(buf.local_pos.v_z_valid ? 8 : 0) |
(buf.local_pos.xy_global ? 16 : 0) |
(buf.local_pos.z_global ? 32 : 0);
log_msg.body.log_LPOS.landed = buf.local_pos.landed;
log_msg.body.log_LPOS.ground_dist_flags = (buf.local_pos.dist_bottom_valid ? 1 : 0);
log_msg.body.log_LPOS.eph = buf.local_pos.eph;
log_msg.body.log_LPOS.epv = buf.local_pos.epv;
LOGBUFFER_WRITE_AND_COUNT(LPOS);
}