HomePosition: Add minimum position change needed to be recognised as …

…new home position
PX4 · May 21, 2024 · 664a0f2 · 664a0f2
1 parent 1c213fa
commit 664a0f2
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Showing 2 changed files with 6 additions and 1 deletion.
diff --git a/src/modules/commander/HomePosition.cpp b/src/modules/commander/HomePosition.cpp
@@ -34,6 +34,8 @@
 
 #include "HomePosition.hpp"
 
+#include <math.h>
+
 #include <lib/geo/geo.h>
 #include "commander_helper.h"
 
@@ -83,7 +85,8 @@ bool HomePosition::hasMovedFromCurrentHomeLocation()
 		}
 	}
 
-	return (home_dist_xy > eph * 2.f) || (home_dist_z > epv * 2.f);
+	return (home_dist_xy > fmaxf(eph * 2.f, kMinHomePositionChangeEPH))
+	       || (home_dist_z > fmaxf(epv * 2.f, kMinHomePositionChangeEPV));
 }
 
 bool HomePosition::setHomePosition(bool force)

diff --git a/src/modules/commander/HomePosition.hpp b/src/modules/commander/HomePosition.hpp
@@ -45,6 +45,8 @@ static constexpr int kHomePositionGPSRequiredFixType = 2;
 static constexpr float kHomePositionGPSRequiredEPH = 5.f;
 static constexpr float kHomePositionGPSRequiredEPV = 10.f;
 static constexpr float kHomePositionGPSRequiredEVH = 1.f;
+static constexpr float kMinHomePositionChangeEPH = 1.f;
+static constexpr float kMinHomePositionChangeEPV = 1.5f;
 
 class HomePosition
 {