Merge pull request #1873 from Zefz/ekf-dead-reckoning-fix

AttPosEKF dead reckoning fix

src/modules/commander/commander.cpp

@@ -133,7 +133,7 @@ extern struct system_load_s system_load;
 #define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
 #define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
 
-#define POSITION_TIMEOUT		(2 * 1000 * 1000)	/**< consider the local or global position estimate invalid after 600ms */
+#define POSITION_TIMEOUT		(1 * 1000 * 1000)	/**< consider the local or global position estimate invalid after 1000ms */
 #define FAILSAFE_DEFAULT_TIMEOUT	(3 * 1000 * 1000)	/**< hysteresis time - the failsafe will trigger after 3 seconds in this state */
 #define OFFBOARD_TIMEOUT		500000
 #define DIFFPRESS_TIMEOUT		2000000

src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h

@@ -143,6 +143,7 @@ private:
     int     _mission_sub;
     int     _home_sub;          /**< home position as defined by commander / user */
     int     _landDetectorSub;
+    int     _armedSub;
 
     orb_advert_t    _att_pub;           /**< vehicle attitude */
     orb_advert_t    _global_pos_pub;        /**< global position */
@@ -163,6 +164,7 @@ private:
     struct wind_estimate_s              _wind;          /**< wind estimate */
     struct range_finder_report          _distance;      /**< distance estimate */
     struct vehicle_land_detected_s      _landDetector;
+    struct actuator_armed_s             _armed;
 
     struct gyro_scale               _gyro_offsets[3];
     struct accel_scale              _accel_offsets[3];

src/modules/uORB/topics/vehicle_global_position.h

@@ -74,6 +74,7 @@ struct vehicle_global_position_s {
 	float epv;			/**< Standard deviation of position vertically */
 	float terrain_alt;		/**< Terrain altitude in m, WGS84 */
 	bool terrain_alt_valid;		/**< Terrain altitude estimate is valid */
+	bool dead_reckoning;		/**< True if this position is estimated through dead-reckoning*/
 };
 
 /**