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vehicle_gps_position: use timestamp field instead of timestamp_position

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timestamp was unused. This allows to remove timestamp_position.
This commit is contained in:
Beat Küng
2016-06-24 00:22:01 +02:00
committed by Lorenz Meier
parent bf0b3c1585
commit 89f5bd27e8
15 changed files with 37 additions and 38 deletions
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src/modules/commander/PreflightCheck.cpp
+1 -1
View File
@@ -366,7 +366,7 @@ static bool gnssCheck(orb_advert_t *mavlink_log_pub, bool report_fail)
else {
struct vehicle_gps_position_s gps;
if ( (OK != orb_copy(ORB_ID(vehicle_gps_position), gpsSub, &gps)) ||
(hrt_elapsed_time(&gps.timestamp_position) > 1000000)) {
(hrt_elapsed_time(&gps.timestamp) > 1000000)) {
success = false;
}
}
src/modules/commander/commander.cpp
+2 -2
View File
@@ -2167,7 +2167,7 @@ int commander_thread_main(int argc, char *argv[])
if (!map_projection_global_initialized()
&& (gps_position.eph < eph_threshold)
&& (gps_position.epv < epv_threshold)
&& hrt_elapsed_time((hrt_abstime *)&gps_position.timestamp_position) < 1e6) {
&& hrt_elapsed_time((hrt_abstime *)&gps_position.timestamp) < 1e6) {
/* set reference for global coordinates <--> local coordiantes conversion and map_projection */
globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7,
(float)gps_position.alt * 1.0e-3f, hrt_absolute_time());
@@ -2189,7 +2189,7 @@ int commander_thread_main(int argc, char *argv[])
}
}
if (gps_position.fix_type >= 3 && hrt_elapsed_time(&gps_position.timestamp_position) < FAILSAFE_DEFAULT_TIMEOUT) {
if (gps_position.fix_type >= 3 && hrt_elapsed_time(&gps_position.timestamp) < FAILSAFE_DEFAULT_TIMEOUT) {
/* handle the case where gps was regained */
if (status_flags.gps_failure && !gpsIsNoisy) {
status_flags.gps_failure = false;