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Commander: Fix GPS loss not handled properly

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This commit is contained in:
Johan Jansen
2015-02-11 16:42:01 +01:00
parent 7f7c36b5b1
commit dc522f217f
3 changed files with 21 additions and 20 deletions
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src/modules/commander/commander.cpp
+15 -20
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@@ -1388,30 +1388,25 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
}
/* update condition_global_position_valid */
/* hysteresis for EPH/EPV */
bool eph_good;
if (status.condition_global_position_valid) {
if (global_position.eph > eph_threshold * 2.5f) {
eph_good = false;
} else {
eph_good = true;
//update condition_global_position_valid
//Global positions are only published by the estimators if they are valid
if(hrt_absolute_time() - global_position.timestamp > POSITION_TIMEOUT) {
//We have had no good fix for POSITION_TIMEOUT amount of time
if(status.condition_global_position_valid) {
set_tune_override(TONE_GPS_WARNING_TUNE);
status_changed = true;
}
} else {
if (global_position.eph < eph_threshold) {
eph_good = true;
} else {
eph_good = false;
status.condition_global_position_valid = false;
}
else if(hrt_absolute_time() > POSITION_TIMEOUT) {
//Got good global position estimate
if(!status.condition_global_position_valid) {
status_changed = true;
status.condition_global_position_valid = true;
}
}
check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid),
&status_changed);
/* update condition_local_position_valid and condition_local_altitude_valid */
/* hysteresis for EPH */
bool local_eph_good;
@@ -2119,7 +2114,7 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
/* vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL handled as vehicle_status_s::ARMING_STATE_ARMED_ERROR / vehicle_status_s::ARMING_STATE_STANDBY_ERROR */
} else {
if (status_local->condition_local_position_valid) {
if (status_local->condition_global_position_valid) {
rgbled_set_color(RGBLED_COLOR_GREEN);
} else {