Merge pull request #1236 from PX4/real_life_timeouts

Increase GPS position timeout to real-life timeouts. More work needed.

src/modules/commander/commander.cpp

@@ -124,7 +124,7 @@ extern struct system_load_s system_load;
 #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
 
-#define POSITION_TIMEOUT		(600 * 1000)		/**< consider the local or global position estimate invalid after 600ms */
+#define POSITION_TIMEOUT		(2 * 1000 * 1000)	/**< consider the local or global position estimate invalid after 600ms */
 #define FAILSAFE_DEFAULT_TIMEOUT	(3 * 1000 * 1000)	/**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
 #define RC_TIMEOUT			500000
 #define DL_TIMEOUT			5 * 1000* 1000
@@ -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;
@@ -1109,32 +1110,32 @@ 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 * 2.0f || global_position.epv > eph_epv_threshold * 2.0f) {
-				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;
@@ -1164,8 +1165,8 @@ 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 {
@@ -1173,7 +1174,7 @@ 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 {
@@ -1505,7 +1506,7 @@ 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;

src/modules/uORB/topics/vehicle_global_position.h

@@ -70,8 +70,8 @@ struct vehicle_global_position_s {
 	float vel_e;			/**< Ground east velocity, m/s							   */
 	float vel_d;			/**< Ground downside velocity, m/s						   */
 	float yaw; 			/**< Yaw in radians -PI..+PI.							   */
-	float eph;
-	float epv;
+	float eph;			/**< Standard deviation of position estimate horizontally */
+	float epv;			/**< Standard deviation of position vertically */
 };
 
 /**