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ekf: use PDOP instead of GDOP as TDOP (part of GDOP) is not given by the GNSS receiver

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bresch
2019-11-25 16:38:51 +02:00
committed by Mathieu Bresciani
parent 20705e3c53
commit 09c8c8f706
7 changed files with 22 additions and 23 deletions
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msg/estimator_status.msg
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@@ -13,7 +13,7 @@ uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see
# bits are true when corresponding test has failed
uint8 GPS_CHECK_FAIL_GPS_FIX = 0 # 0 : insufficient fix type (no 3D solution)
uint8 GPS_CHECK_FAIL_MIN_SAT_COUNT = 1 # 1 : minimum required sat count fail
uint8 GPS_CHECK_FAIL_MIN_GDOP = 2 # 2 : minimum required GDoP fail
uint8 GPS_CHECK_FAIL_MIN_PDOP = 2 # 2 : minimum required PDOP fail
uint8 GPS_CHECK_FAIL_MAX_HORZ_ERR = 3 # 3 : maximum allowed horizontal position error fail
uint8 GPS_CHECK_FAIL_MAX_VERT_ERR = 4 # 4 : maximum allowed vertical position error fail
uint8 GPS_CHECK_FAIL_MAX_SPD_ERR = 5 # 5 : maximum allowed speed error fail