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global_position topic: added baro_alt, mc_pos_control: SEATBELT mode fixed, use baro/AMSL alt

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This commit is contained in:
Anton Babushkin
2014-01-28 20:40:05 +01:00
parent 48f1b7e1c7
commit 6a1a29f77e
11 changed files with 69 additions and 34 deletions
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src/modules/commander/commander.cpp
+2 -2
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@@ -871,7 +871,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* update condition_global_position_valid */
check_valid(global_position.timestamp, POSITION_TIMEOUT, global_position.valid, &(status.condition_global_position_valid), &status_changed);
check_valid(global_position.timestamp, POSITION_TIMEOUT, global_position.global_valid, &(status.condition_global_position_valid), &status_changed);
/* update local position estimate */
orb_check(local_position_sub, &updated);
@@ -1030,7 +1030,7 @@ int commander_thread_main(int argc, char *argv[])
if (!status.condition_home_position_valid && gps_position.fix_type >= 3 &&
(gps_position.eph_m < hdop_threshold_m) && (gps_position.epv_m < vdop_threshold_m) &&
(hrt_absolute_time() < gps_position.timestamp_position + POSITION_TIMEOUT) && !armed.armed
&& global_position.valid) {
&& global_position.global_valid) {
/* copy position data to uORB home message, store it locally as well */
home.lat = global_position.lat;