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Code Issues Releases Activity

Change requires for GSP updated to be set to true (wrong sign on PDOP check)

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This commit is contained in:
James Cotton 2012-02-28 09:43:08 -06:00
parent 1630267324
commit e3c36ac99a
1 changed files with 3 additions and 3 deletions
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6
flight/Modules/Attitude/revolution/attitude.c
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@ -455,7 +455,7 @@ static int32_t updateAttitudeINSGPS(bool first_run)
HomeLocationGet(&home);
// Have a minimum requirement for gps usage
gps_updated &= (gpsData.Satellites >= 7) && (gpsData.PDOP >= 3.0f);
gps_updated &= (gpsData.Satellites >= 7) && (gpsData.PDOP <= 4.0f);
if (!inited)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_ERROR);
@ -603,8 +603,8 @@ static int32_t updateAttitudeINSGPS(bool first_run)
if(gps_updated && outdoor_mode)
{
INSSetPosVelVar(1.0f, 1.0f);
sensors = POS_SENSORS; //HORIZ_SENSORS | VERT_SENSORS;
INSSetPosVelVar(1e-2f, 1e-2f);
sensors = POS_SENSORS | HORIZ_SENSORS;
GPSPositionData gpsPosition;
GPSPositionGet(&gpsPosition);