Differentiate between EPH and EPV. Do not declare position invalid because of EPV (because we use the baro anyway). No fundamental logic change / cleanup to ensure current approach and arming logic remains intact

src/modules/commander/commander.cpp

@@ -163,7 +163,8 @@ static bool on_usb_power = false;
 
 static float takeoff_alt = 5.0f;
 static int parachute_enabled = 0;
-static float eph_epv_threshold = 5.0f;
+static float eph_threshold = 5.0f;
+static float epv_threshold = 10.0f;
 
 static struct vehicle_status_s status;
 static struct actuator_armed_s armed;
@@ -1108,32 +1109,32 @@ int commander_thread_main(int argc, char *argv[])
 
 		/* update condition_global_position_valid */
 		/* hysteresis for EPH/EPV */
-		bool eph_epv_good;
+		bool eph_good;
 
 		if (status.condition_global_position_valid) {
-			if (global_position.eph > eph_epv_threshold * 2.5f || global_position.epv > eph_epv_threshold * 2.5f) {
-				eph_epv_good = false;
+			if (global_position.eph > eph_threshold * 2.5f) {
+				eph_good = false;
 
 			} else {
-				eph_epv_good = true;
+				eph_good = true;
 			}
 
 		} else {
-			if (global_position.eph < eph_epv_threshold && global_position.epv < eph_epv_threshold) {
-				eph_epv_good = true;
+			if (global_position.eph < eph_threshold) {
+				eph_good = true;
 
 			} else {
-				eph_epv_good = false;
+				eph_good = false;
 			}
 		}
 
-		check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_epv_good, &(status.condition_global_position_valid), &status_changed);
+		check_valid(global_position.timestamp, POSITION_TIMEOUT, eph_good, &(status.condition_global_position_valid), &status_changed);
 
 		/* check if GPS fix is ok */
 
 		/* update home position */
 		if (!status.condition_home_position_valid && status.condition_global_position_valid && !armed.armed &&
-		    (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) {
+		    (global_position.eph < eph_threshold) && (global_position.epv < epv_threshold)) {
 
 			home.lat = global_position.lat;
 			home.lon = global_position.lon;
@@ -1163,8 +1164,8 @@ int commander_thread_main(int argc, char *argv[])
 		/* hysteresis for EPH */
 		bool local_eph_good;
 
-		if (status.condition_global_position_valid) {
-			if (local_position.eph > eph_epv_threshold * 2.0f) {
+		if (status.condition_local_position_valid) {
+			if (local_position.eph > eph_threshold * 2.5f) {
 				local_eph_good = false;
 
 			} else {
@@ -1172,7 +1173,7 @@ int commander_thread_main(int argc, char *argv[])
 			}
 
 		} else {
-			if (local_position.eph < eph_epv_threshold) {
+			if (local_position.eph < eph_threshold) {
 				local_eph_good = true;
 
 			} else {
@@ -1504,7 +1505,7 @@ int commander_thread_main(int argc, char *argv[])
 
 			/* update home position on arming if at least 2s from commander start spent to avoid setting home on in-air restart */
 			if (armed.armed && !was_armed && hrt_absolute_time() > start_time + 2000000 && status.condition_global_position_valid &&
-			    (global_position.eph < eph_epv_threshold) && (global_position.epv < eph_epv_threshold)) {
+			    (global_position.eph < eph_threshold) && (global_position.epv < epv_threshold)) {
 
 				// TODO remove code duplication
 				home.lat = global_position.lat;