fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-29 02:00:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

vehicle_gps_position: use timestamp field instead of timestamp_position

Browse Source 
timestamp was unused. This allows to remove timestamp_position.
This commit is contained in:
Beat Küng
2016-06-15 12:59:39 +02:00
committed by Lorenz Meier
parent bf0b3c1585
commit 89f5bd27e8
15 changed files with 37 additions and 38 deletions
Download Patch File Download Diff File Expand all files Collapse all files
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;