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ekf: use PDOP instead of GDOP as the TDOP (part of GDOP) is usually not available

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PDOP is the position dillution of precision and is given by sqrt(VDOP^2+HDOP^2)
This commit is contained in:
bresch
2019-11-25 17:18:40 -05:00
committed by Kabir Mohammed
parent 362a2dfa08
commit 6b5f011bc2
3 changed files with 8 additions and 8 deletions
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EKF/common.h
+3 -3
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@@ -69,7 +69,7 @@ struct gps_message {
float vel_ned[3]; ///< GPS ground speed NED
bool vel_ned_valid; ///< GPS ground speed is valid
uint8_t nsats; ///< number of satellites used
float gdop; ///< geometric dilution of precision
float pdop; ///< position dilution of precision
};
struct flow_message {
@@ -317,7 +317,7 @@ struct parameters {
float req_vacc{8.0f}; ///< maximum acceptable vertical position error (m)
float req_sacc{1.0f}; ///< maximum acceptable speed error (m/s)
int32_t req_nsats{6}; ///< minimum acceptable satellite count
float req_gdop{2.0f}; ///< maximum acceptable geometric dilution of precision
float req_pdop{2.0f}; ///< maximum acceptable position dilution of precision
float req_hdrift{0.3f}; ///< maximum acceptable horizontal drift speed (m/s)
float req_vdrift{0.5f}; ///< maximum acceptable vertical drift speed (m/s)
@@ -423,7 +423,7 @@ union gps_check_fail_status_u {
struct {
uint16_t fix : 1; ///< 0 - true if the fix type is insufficient (no 3D solution)
uint16_t nsats : 1; ///< 1 - true if number of satellites used is insufficient
uint16_t gdop : 1; ///< 2 - true if geometric dilution of precision is insufficient
uint16_t pdop : 1; ///< 2 - true if position dilution of precision is insufficient
uint16_t hacc : 1; ///< 3 - true if reported horizontal accuracy is insufficient
uint16_t vacc : 1; ///< 4 - true if reported vertical accuracy is insufficient
uint16_t sacc : 1; ///< 5 - true if reported speed accuracy is insufficient