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'vehicle_global_position' topic updated: removed baro_alt and XXX_valid flags.

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This commit is contained in:
Anton Babushkin
2014-03-27 00:27:11 +04:00
parent e2305d93bd
commit 83da4ae02d
10 changed files with 77 additions and 90 deletions
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src/modules/navigator/navigator_main.cpp
+11 -6
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@@ -177,7 +177,7 @@ private:
class Mission _mission;
bool _mission_item_valid; /**< current mission item valid */
bool _global_pos_valid; /**< track changes of global_position.global_valid flag */
bool _global_pos_valid; /**< track changes of global_position */
bool _reset_loiter_pos; /**< if true then loiter position should be set to current position */
bool _waypoint_position_reached;
bool _waypoint_yaw_reached;
@@ -817,13 +817,11 @@ Navigator::task_main()
if (_control_mode.flag_armed && _control_mode.flag_control_auto_enabled) {
_pos_sp_triplet_updated = true;
if (myState == NAV_STATE_LAND && _global_pos.global_valid && !_global_pos_valid) {
if (myState == NAV_STATE_LAND && !_global_pos_valid) {
/* got global position when landing, update setpoint */
start_land();
}
_global_pos_valid = _global_pos.global_valid;
/* check if waypoint has been reached in MISSION, RTL and LAND modes */
if (myState == NAV_STATE_MISSION || myState == NAV_STATE_RTL || myState == NAV_STATE_LAND) {
if (check_mission_item_reached()) {
@@ -846,8 +844,15 @@ Navigator::task_main()
/* Reset the _geofence_violation_warning_sent field */
_geofence_violation_warning_sent = false;
}
_global_pos_valid = true;
} else {
/* assume that global position is valid if updated in last 20ms */
_global_pos_valid = _global_pos.timestamp != 0 && hrt_abstime() < _global_pos.timestamp + 20000;
}
/* publish position setpoint triplet if updated */
if (_pos_sp_triplet_updated) {
_pos_sp_triplet_updated = false;
@@ -893,9 +898,9 @@ Navigator::start()
void
Navigator::status()
{
warnx("Global position is %svalid", _global_pos.global_valid ? "" : "in");
warnx("Global position: %svalid", _global_pos_valid ? "" : "in");
if (_global_pos.global_valid) {
if (_global_pos_valid) {
warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat);
warnx("Altitude %5.5f meters, altitude above home %5.5f meters",
(double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt));