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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_messages.h
+4 -3
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@@ -109,10 +109,11 @@ struct log_LPOS_s {
int32_t ref_lat;
int32_t ref_lon;
float ref_alt;
uint8_t xy_flags;
uint8_t z_flags;
uint8_t pos_flags;
uint8_t landed;
uint8_t ground_dist_flags;
float eph;
float epv;
};
/* --- LPSP - LOCAL POSITION SETPOINT --- */
@@ -360,7 +361,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(ATSP, "ffff", "RollSP,PitchSP,YawSP,ThrustSP"),
LOG_FORMAT(IMU, "fffffffff", "AccX,AccY,AccZ,GyroX,GyroY,GyroZ,MagX,MagY,MagZ"),
LOG_FORMAT(SENS, "fffff", "BaroPres,BaroAlt,BaroTemp,DiffPres,DiffPresFilt"),
LOG_FORMAT(LPOS, "ffffffffLLfBBBB", "X,Y,Z,dist,distR,VX,VY,VZ,RLat,RLon,RAlt,XYFlg,ZFlg,LFlg,GFlg"),
LOG_FORMAT(LPOS, "ffffffffLLfBBBff", "X,Y,Z,Dist,DistR,VX,VY,VZ,RLat,RLon,RAlt,PFlg,LFlg,GFlg,EPH,EPV"),
LOG_FORMAT(LPSP, "ffff", "X,Y,Z,Yaw"),
LOG_FORMAT(GPS, "QBffLLfffff", "GPSTime,FixType,EPH,EPV,Lat,Lon,Alt,VelN,VelE,VelD,Cog"),
LOG_FORMAT(ATTC, "ffff", "Roll,Pitch,Yaw,Thrust"),