AttPosEKF: Moved data collection to separate function

2026-06-26 09:00:35 +08:00 · 2015-02-12 11:49:45 +01:00
parent f5534dd5c1
commit 76901c6414
2 changed files with 484 additions and 463 deletions
@@ -1395,11 +1395,10 @@ int commander_thread_main(int argc, char *argv[])
 			if(status.condition_global_position_valid) {
 				set_tune_override(TONE_GPS_WARNING_TUNE);
 				status_changed = true;
+				status.condition_global_position_valid = false;		
 			}
-
-			status.condition_global_position_valid = false;		
 		}
-		else if(hrt_absolute_time() > POSITION_TIMEOUT) {
+		else if(global_position.timestamp != 0) {
 			//Got good global position estimate
 			if(!status.condition_global_position_valid) {
 				status_changed = true;