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AP_GPS: Ignore Z-axis difference while dual GPS difference check #28236

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AP_GPS: Ignore Z-axis difference while dual GPS difference check #28236

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tomashmyh
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@tomashmyh tomashmyh commented Sep 26, 2024 •
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peterbarker
peterbarker reviewed Sep 26, 2024
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@rmackay9 why is this marked "safety"? AFAICS this can only make it easier to arm, meaning it makes things less safe?

libraries/AP_GPS/AP_GPS_MAV.cpp Outdated
@@ -71,6 +71,8 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
loc.lng = packet.lon;
if (have_alt) {
loc.alt = packet.alt * 100; // convert to centimeters
} else {
state.have_altitude = false;
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This could change over time, so we might need to set just state.have_altitude = have_alt;?

There might be a reason we shouldn't do that, in which case a comment would be good :-)

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you are right, there is no need to set it here only to false.
changed that

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@tomashmyh @peterbarker