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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/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+5 -5
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@@ -448,7 +448,7 @@ int AttitudePositionEstimatorEKF::check_filter_state()
// Set up height correctly
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
initReferencePosition(_gps.timestamp_position, _gpsIsGood, lat, lon, gps_alt, _baro.altitude);
initReferencePosition(_gps.timestamp, _gpsIsGood, lat, lon, gps_alt, _baro.altitude);
} else if (_ekf_logging) {
_ekf->GetFilterState(&ekf_report);
@@ -821,7 +821,7 @@ void AttitudePositionEstimatorEKF::initializeGPS()
_ekf->InitialiseFilter(initVelNED, math::radians(lat), math::radians(lon) - M_PI, gps_alt, declination);
initReferencePosition(_gps.timestamp_position, _gpsIsGood, lat, lon, gps_alt, _baro.altitude);
initReferencePosition(_gps.timestamp, _gpsIsGood, lat, lon, gps_alt, _baro.altitude);
#if 0
PX4_INFO("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt,
@@ -1068,7 +1068,7 @@ void AttitudePositionEstimatorEKF::publishGlobalPosition()
if (!_local_pos.xy_global ||
!_local_pos.v_xy_valid ||
_gps.timestamp_position == 0 ||
_gps.timestamp == 0 ||
(dtLastGoodGPS >= POS_RESET_THRESHOLD)) {
_global_pos.eph = EPH_LARGE_VALUE;
@@ -1584,7 +1584,7 @@ void AttitudePositionEstimatorEKF::pollData()
if (_gpsIsGood) {
//Calculate time since last good GPS fix
const float dtLastGoodGPS = static_cast<float>(_gps.timestamp_position - _previousGPSTimestamp) / 1e6f;
const float dtLastGoodGPS = static_cast<float>(_gps.timestamp - _previousGPSTimestamp) / 1e6f;
//Stop dead-reckoning mode
if (_global_pos.dead_reckoning) {
@@ -1643,7 +1643,7 @@ void AttitudePositionEstimatorEKF::pollData()
// PX4_INFO("vel: %8.4f pos: %8.4f", _gps.s_variance_m_s, _gps.p_variance_m);
_previousGPSTimestamp = _gps.timestamp_position;
_previousGPSTimestamp = _gps.timestamp;
}
}