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Move some GPS variables into struct. Some alignment with iNav

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This commit is contained in:
Martin Budden 2017-06-25 06:55:17 +01:00
parent 582af3d515
commit 564e0c94b8
22 changed files with 192 additions and 197 deletions
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4
src/main/flight/imu.c
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@ -419,9 +419,9 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
useMag = true;
}
#if defined(GPS)
else if (STATE(FIXED_WING) && sensors(SENSOR_GPS) && STATE(GPS_FIX) && GPS_numSat >= 5 && GPS_speed >= 300) {
else if (STATE(FIXED_WING) && sensors(SENSOR_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5 && gpsSol.groundSpeed >= 300) {
// In case of a fixed-wing aircraft we can use GPS course over ground to correct heading
rawYawError = DECIDEGREES_TO_RADIANS(attitude.values.yaw - GPS_ground_course);
rawYawError = DECIDEGREES_TO_RADIANS(attitude.values.yaw - gpsSol.groundCourse);
useYaw = true;
}
#endif