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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/gps_checks.cpp
+4 -4
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@@ -47,7 +47,7 @@
// GPS pre-flight check bit locations
#define MASK_GPS_NSATS (1<<0)
#define MASK_GPS_GDOP (1<<1)
#define MASK_GPS_PDOP (1<<1)
#define MASK_GPS_HACC (1<<2)
#define MASK_GPS_VACC (1<<3)
#define MASK_GPS_SACC (1<<4)
@@ -121,8 +121,8 @@ bool Ekf::gps_is_good(const gps_message &gps)
// Check the number of satellites
_gps_check_fail_status.flags.nsats = (gps.nsats < _params.req_nsats);
// Check the geometric dilution of precision
_gps_check_fail_status.flags.gdop = (gps.gdop > _params.req_gdop);
// Check the position dilution of precision
_gps_check_fail_status.flags.pdop = (gps.pdop > _params.req_pdop);
// Check the reported horizontal and vertical position accuracy
_gps_check_fail_status.flags.hacc = (gps.eph > _params.req_hacc);
@@ -228,7 +228,7 @@ bool Ekf::gps_is_good(const gps_message &gps)
if (
_gps_check_fail_status.flags.fix ||
(_gps_check_fail_status.flags.nsats && (_params.gps_check_mask & MASK_GPS_NSATS)) ||
(_gps_check_fail_status.flags.gdop && (_params.gps_check_mask & MASK_GPS_GDOP)) ||
(_gps_check_fail_status.flags.pdop && (_params.gps_check_mask & MASK_GPS_PDOP)) ||
(_gps_check_fail_status.flags.hacc && (_params.gps_check_mask & MASK_GPS_HACC)) ||
(_gps_check_fail_status.flags.vacc && (_params.gps_check_mask & MASK_GPS_VACC)) ||
(_gps_check_fail_status.flags.sacc && (_params.gps_check_mask & MASK_GPS_SACC)) ||