Removed some unnecessairy flags, home position back working

apps/commander/commander.c

@@ -1683,7 +1683,8 @@ int commander_thread_main(int argc, char *argv[])
 
 			/* check if gps fix is ok */
 			// XXX magic number
-			float dop_threshold_m = 2.0f;
+			float hdop_threshold_m = 4.0f;
+			float vdop_threshold_m = 8.0f;
 
 			/*
 			 * If horizontal dilution of precision (hdop / eph)
@@ -1694,8 +1695,10 @@ int commander_thread_main(int argc, char *argv[])
 			 * the system is currently not armed, set home
 			 * position to the current position.
 			 */
-			if (gps_position.fix_type == GPS_FIX_TYPE_3D && (hdop_m < dop_threshold_m)
+
-				&& (vdop_m < dop_threshold_m)
+			if (gps_position.fix_type == GPS_FIX_TYPE_3D
+				&& (hdop_m < hdop_threshold_m)
+				&& (vdop_m < vdop_threshold_m)
 				&& !home_position_set
 				&& (hrt_absolute_time() - gps_position.timestamp_position < 2000000)
 				&& !current_status.flag_system_armed) {

apps/drivers/gps/gps.cpp

@@ -591,7 +591,7 @@ start(const char *uart_path)
 	fd = open(GPS_DEVICE_PATH, O_RDONLY);
 
 	if (fd < 0) {
-		printf("Could not open device path: %s\n", GPS_DEVICE_PATH);
+		errx(1, "Could not open device path: %s\n", GPS_DEVICE_PATH);
 		goto fail;
 	}
 	exit(0);

apps/drivers/gps/ubx.cpp

@@ -50,12 +50,7 @@
 
 UBX::UBX() :
 _config_state(UBX_CONFIG_STATE_PRT),
-_waiting_for_ack(false),
+_waiting_for_ack(false)
-_new_nav_posllh(false),
-_new_nav_timeutc(false),
-//_new_nav_dop(false),
-_new_nav_sol(false),
-_new_nav_velned(false)
 {
 	reset();
 }
@@ -413,13 +408,12 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 									gps_position->lon = packet->lon;
 									gps_position->alt = packet->height_msl;
 
-									gps_position->eph_m = (float)packet->hAcc * 1e-2f; // from mm to m
+									gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m
-									gps_position->epv_m = (float)packet->vAcc * 1e-2f; // from mm to m
+									gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m
 
 									/* Add timestamp to finish the report */
 									gps_position->timestamp_position = hrt_absolute_time();
 
-									_new_nav_posllh = true;
 									/* set flag to trigger publishing of new position */
 									pos_updated = true;
 
@@ -445,9 +439,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 
 									gps_position->timestamp_variance = hrt_absolute_time();
 
-
-									_new_nav_sol = true;
-
 								} else {
 									warnx("NAV_SOL: checksum invalid");
 								}
@@ -502,8 +493,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 
 									gps_position->timestamp_time = hrt_absolute_time();
 
-									_new_nav_timeutc = true;
-
 								} else {
 									warnx("NAV_TIMEUTC: checksum invalid");
 								}
@@ -581,20 +570,16 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 										gps_position->satellite_elevation[i] = 0;
 										gps_position->satellite_azimuth[i] = 0;
 									}
+									gps_position->satellites_visible = satellites_used; // visible ~= used but we are interested in the used ones
 
-									/* set flag if any sat info is available */
+									/* set timestamp if any sat info is available */
-									if (!packet_part1->numCh > 0) {
+									if (packet_part1->numCh > 0) {
-										gps_position->satellite_info_available = 1;
+										gps_position->satellite_info_available = true;
-
 									} else {
-										gps_position->satellite_info_available = 0;
+										gps_position->satellite_info_available = false;
 									}
-
-									gps_position->satellites_visible = satellites_used++; // visible ~= used but we are interested in the used ones
 									gps_position->timestamp_satellites = hrt_absolute_time();
 
-									// as this message arrives only with 1Hz and is not essential, we don't take it into account for the report
-
 								} else {
 									warnx("NAV_SVINFO: checksum invalid");
 								}
@@ -619,9 +604,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 									gps_position->vel_ned_valid = true;
 									gps_position->timestamp_velocity = hrt_absolute_time();
 
-									_new_nav_velned = true;
-
-
 								} else {
 									warnx("NAV_VELNED: checksum invalid");
 								}
@@ -760,21 +742,6 @@ UBX::parse(uint8_t b, struct vehicle_gps_position_s *gps_position, bool &config_
 		default:
 			break;
 	}
-
-	/* return 1 when position updates and the remaining packets updated at least once */
-	if(_new_nav_posllh &&_new_nav_timeutc /*&& _new_nav_dop*/ && _new_nav_sol && _new_nav_velned) {
-
-		/* we have received everything, this most probably means that the configuration is fine */
-		config_needed = false;
-
-		/* Reset the flags */
-		_new_nav_posllh = false;
-		_new_nav_timeutc = false;
-//		_new_nav_dop = false;
-		_new_nav_sol = false;
-		_new_nav_velned = false;
-
-	}
 	return;
 }
 

apps/drivers/gps/ubx.h

@@ -369,11 +369,6 @@ private:
 	ubx_message_class_t _message_class;
 	ubx_message_id_t	_message_id;
 	unsigned			_payload_size;
-	bool				_new_nav_posllh;
-	bool				_new_nav_timeutc;
-//	bool				_new_nav_dop;
-	bool				_new_nav_sol;
-	bool				_new_nav_velned;
 };
 
 #endif /* UBX_H_ */

apps/uORB/topics/vehicle_gps_position.h

@@ -86,7 +86,7 @@ struct vehicle_gps_position_s
 	uint8_t satellite_elevation[20]; 	/**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
 	uint8_t satellite_azimuth[20];		/**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
 	uint8_t satellite_snr[20];			/**< Signal to noise ratio of satellite   */
-	uint8_t satellite_info_available;	/**< 0 for no info, 1 for info available */
+	bool satellite_info_available;	/**< 0 for no info, 1 for info available */
 };
 
 /**