def update_location(self):
location = self.sm['liveLocationKalman']
self.gps_ok = location.gpsOK
localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
if localizer_valid:
self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
def update_location(self):
location = self.sm['liveLocationKalman']
laikad = self.sm['gnssMeasurements']
locationd_valid = (location.status
== log.LiveLocationKalman.Status.valid
) and location.positionGeodetic.valid
laikad_valid = laikad.positionECEF.valid and np.linalg.norm(
laikad.positionECEF.std) < VALID_POS_STD
self.localizer_valid = locationd_valid or laikad_valid
self.gps_ok = location.gpsOK or laikad_valid
if locationd_valid:
self.last_bearing = math.degrees(
location.calibratedOrientationNED.value[2])
self.last_position = Coordinate(location.positionGeodetic.value[0],
location.positionGeodetic.value[1])
elif laikad_valid:
geodetic = ecef2geodetic(laikad.positionECEF.value)
self.last_position = Coordinate(geodetic[0], geodetic[1])
self.last_bearing = None