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Removed some unnecessairy flags, home position back working

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This commit is contained in:
Julian Oes
2013-02-06 13:50:32 -08:00
parent fc4be3e728
commit d962e6c403
5 changed files with 16 additions and 51 deletions
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apps/commander/commander.c
+6 -3
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@@ -1683,7 +1683,8 @@ int commander_thread_main(int argc, char *argv[])
/* check if gps fix is ok */
// XXX magic number
float dop_threshold_m = 2.0f;
float hdop_threshold_m = 4.0f;
float vdop_threshold_m = 8.0f;
/*
* If horizontal dilution of precision (hdop / eph)
@@ -1694,8 +1695,10 @@ int commander_thread_main(int argc, char *argv[])
* the system is currently not armed, set home
* position to the current position.
*/
if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < dop_threshold_m)
&& (vdop_m < dop_threshold_m)
if (gps_position.fix_type == GPS_FIX_TYPE_3D
&& (hdop_m < hdop_threshold_m)
&& (vdop_m < vdop_threshold_m)
&& !home_position_set
&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
&& !current_status.flag_system_armed) {