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Code Issues Releases Activity

update PositionSensor whenever there is a 3d fix position update, even if its not good quality...

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This commit is contained in:
Corvus Corax 2013-06-09 22:42:14 +02:00
parent f051b7c319
commit 47523bfe15
1 changed files with 5 additions and 1 deletions
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6
flight/modules/GPS/GPS.c
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@ -276,8 +276,12 @@ static void gpsTask(__attribute__((unused)) void *parameters)
#ifdef PIOS_GPS_SETS_POSITIONSENSOR
setPositionSensor(&gpspositionsensor);
#endif
} else if (gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) {
} else if ((gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&
(gpspositionsensor.Latitude != 0 || gpspositionsensor.Longitude != 0)) {
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_WARNING);
#ifdef PIOS_GPS_SETS_POSITIONSENSOR
setPositionSensor(&gpspositionsensor);
#endif
} else {
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
}