Monitors/NavError: Added consume of VehicleState and decreased GpsFix acceptance threashold.

Author: mariacosta

src/Monitors/NavError/Task.cpp

@@ -80,9 +80,12 @@ namespace Monitors
               .description("Ignore start maneuver for DistTotal calculations.")
               .defaultValue("true");
 
+        setEntityState(IMC::EntityState::ESTA_NORMAL, Status::CODE_ACTIVE);
+
         bind<IMC::DesiredPath>(this);
         bind<IMC::GpsFix>(this);
         bind<IMC::VehicleMedium>(this);
+        bind<IMC::VehicleState>(this);
       }
 
       //! Reserve entity identifiers.
@@ -108,6 +111,13 @@ namespace Monitors
         m_last_medium = *msg;
       }
 
+      void
+      consume(const IMC::VehicleState* msg)
+      {
+        if(msg->op_mode == IMC::VehicleState::VS_CALIBRATION)
+          m_distTotal.value = 0;
+      }
+
       void
       consume(const IMC::DesiredPath* msg)
       {
@@ -164,7 +174,7 @@ namespace Monitors
         // Check if we have valid Horizontal Accuracy index.
         if (msg->validity & IMC::GpsFix::GFV_VALID_HACC && msg->hacc > 20)
           return;
-        else if (msg->hdop > 4)
+        else if (msg->hdop > 2.5)
           return;
 
         if(m_init)