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Changed gps position topic mostly to SI units and float, removed counters and added specifig timestamps

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This commit is contained in:
Julian Oes
2013-02-06 12:41:05 -08:00
parent a79ad17f09
commit fc4be3e728
9 changed files with 139 additions and 139 deletions
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apps/commander/commander.c
+7 -7
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@@ -1678,8 +1678,8 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
/* check for first, long-term and valid GPS lock -> set home position */
float hdop_m = gps_position.eph / 100.0f;
float vdop_m = gps_position.epv / 100.0f;
float hdop_m = gps_position.eph_m;
float vdop_m = gps_position.epv_m;
/* check if gps fix is ok */
// XXX magic number
@@ -1697,7 +1697,7 @@ int commander_thread_main(int argc, char *argv[])
if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < dop_threshold_m)
&& (vdop_m < dop_threshold_m)
&& !home_position_set
&& (hrt_absolute_time() - gps_position.timestamp < 2000000)
&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
&& !current_status.flag_system_armed) {
warnx("setting home position");
@@ -1706,11 +1706,11 @@ int commander_thread_main(int argc, char *argv[])
home.lon = gps_position.lon;
home.alt = gps_position.alt;
home.eph = gps_position.eph;
home.epv = gps_position.epv;
home.eph_m = gps_position.eph_m;
home.epv_m = gps_position.epv_m;
home.s_variance = gps_position.s_variance;
home.p_variance = gps_position.p_variance;
home.s_variance_m_s = gps_position.s_variance_m_s;
home.p_variance_m = gps_position.p_variance_m;
/* announce new home position */
if (home_pub > 0) {