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Code Issues Releases Activity

removed GPS check from ekf and put into GPS

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This commit is contained in:
Corvus Corax 2013-05-22 23:20:31 +02:00
parent 843db63cf6
commit 53ba3f4b74
2 changed files with 2 additions and 17 deletions
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3
flight/modules/GPS/GPS.c
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@ -262,7 +262,8 @@ static void gpsTask(__attribute__((unused)) void *parameters)
// criteria for GPS-OK taken from this post...
// http://forums.openpilot.org/topic/1523-professors-insgps-in-svn/page__view__findpost__p__5220
if ((gpspositionsensor.PDOP < 3.5f) && (gpspositionsensor.Satellites >= 7) &&
(gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D)) {
(gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&
(gpspositionsensor.Latitude != 0 || gpspositionsensor.Longitude != 0)) {
AlarmsClear(SYSTEMALARMS_ALARM_GPS);
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationData home;

16
flight/modules/StateEstimation/filterekf.c
View File

@ -34,7 +34,6 @@
#include <ekfconfiguration.h>
#include <ekfstatevariance.h>
#include <gpspositionsensor.h>
#include <attitudestate.h>
#include <homelocation.h>
@ -218,21 +217,6 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
return 0;
}
if (this->usePos) {
GPSPositionSensorData gpsData;
GPSPositionSensorGet(&gpsData);
// Have a minimum requirement for gps usage
if ((gpsData.Satellites < 7) ||
(gpsData.PDOP > 4.0f) ||
(gpsData.Latitude == 0 && gpsData.Longitude == 0) ||
(this->homeLocation.Set != HOMELOCATION_SET_TRUE)) {
UNSET_MASK(state->updated, SENSORUPDATES_pos);
UNSET_MASK(state->updated, SENSORUPDATES_vel);
UNSET_MASK(this->work.updated, SENSORUPDATES_pos);
UNSET_MASK(this->work.updated, SENSORUPDATES_vel);
}
}
dT = PIOS_DELAY_DiffuS(this->ins_last_time) / 1.0e6f;
this->ins_last_time = PIOS_DELAY_GetRaw();