AltosGPS gps;
+ AltosIMU imu;
+ AltosMag mag;
+
double pad_lat;
double pad_lon;
double pad_alt;
max_acceleration = prev_state.max_acceleration;
max_speed = prev_state.max_speed;
max_baro_speed = prev_state.max_baro_speed;
+ imu = prev_state.imu;
+ mag = prev_state.mag;
/* make sure the clock is monotonic */
while (tick < prev_state.tick)
time = tick / 100.0;
- if (state == Altos.ao_flight_pad || state == Altos.ao_flight_idle) {
+ if (cur.new_gps && (state == Altos.ao_flight_pad || state == Altos.ao_flight_idle)) {
/* Track consecutive 'good' gps reports, waiting for 10 of them */
if (data.gps != null && data.gps.locked && data.gps.nsat >= 4)