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Code Issues Releases Activity

prevent positionSensor updates if GPS lock is low quality. Sometimes bad updates are worse than no updates.

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This commit is contained in:
Corvus Corax 2013-06-22 23:15:10 +02:00
parent 3392622d2b
commit 4bf934ae69
1 changed files with 0 additions and 3 deletions
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3
flight/modules/GPS/GPS.c
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@ -277,9 +277,6 @@ static void gpsTask(__attribute__((unused)) void *parameters)
} 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);
}