Only accept sufficiently accurate location updates (mavlink#9483)

* only accept sufficiently accurate location updates
igorsgcampos · Apr 19, 2021 · 2a9ecab · 2a9ecab
1 parent 967226d
commit 2a9ecab
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/src/PositionManager/PositionManager.cpp b/src/PositionManager/PositionManager.cpp
@@ -78,9 +78,11 @@ void QGCPositionManager::_positionUpdated(const QGeoPositionInfo &update)
     QGeoCoordinate newGCSPosition = QGeoCoordinate();
     qreal newGCSHeading = update.attribute(QGeoPositionInfo::Direction);
 
-    if (update.isValid()) {
+    if (update.isValid() && update.hasAttribute(QGeoPositionInfo::HorizontalAccuracy)) {
         // Note that gcsPosition filters out possible crap values
-        if (qAbs(update.coordinate().latitude()) > 0.001 && qAbs(update.coordinate().longitude()) > 0.001) {
+        if (qAbs(update.coordinate().latitude()) > 0.001 &&
+            qAbs(update.coordinate().longitude()) > 0.001 &&
+            update.attribute(QGeoPositionInfo::HorizontalAccuracy) <= MinHorizonalAccuracyMeters) {
             newGCSPosition = update.coordinate();
         }
     }

diff --git a/src/PositionManager/PositionManager.h b/src/PositionManager/PositionManager.h
@@ -21,7 +21,7 @@ class QGCPositionManager : public QGCTool {
     Q_OBJECT
 
 public:
-
+    static constexpr size_t MinHorizonalAccuracyMeters = 100;
     QGCPositionManager(QGCApplication* app, QGCToolbox* toolbox);
     ~QGCPositionManager();