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AP_GPS: check for valid instance in highest_supported_status 

highest_supported_status will always return FIX_3D for blended or invalid instance
setHIL_Accuracy checks instance is 2 or less
send_mavlink_gps2_raw uses num_instances variable directly to avoid confusion with num_sensors
This commit is contained in:
Randy Mackay 2017-03-08 18:49:58 +09:00
parent e764f0d5d0
commit 0066022a7f
2 changed files with 6 additions and 3 deletions
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7
libraries/AP_GPS/AP_GPS.cpp
View File

@ -501,7 +501,7 @@ found_gps:
AP_GPS::GPS_Status
AP_GPS::highest_supported_status(uint8_t instance) const
{
if (drivers[instance] != nullptr) {
if (instance < GPS_MAX_RECEIVERS && drivers[instance] != nullptr) {
return drivers[instance]->highest_supported_status();
}
return AP_GPS::GPS_OK_FIX_3D;
@ -710,6 +710,9 @@ AP_GPS::setHIL(uint8_t instance, GPS_Status _status, uint64_t time_epoch_ms,
// set accuracy for HIL
void AP_GPS::setHIL_Accuracy(uint8_t instance, float vdop, float hacc, float vacc, float sacc, bool _have_vertical_velocity, uint32_t sample_ms)
{
if (instance >= GPS_MAX_RECEIVERS) {
return;
}
GPS_State &istate = state[instance];
istate.vdop = vdop * 100;
istate.horizontal_accuracy = hacc;
@ -803,7 +806,7 @@ void
AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
{
static uint32_t last_send_time_ms[MAVLINK_COMM_NUM_BUFFERS];
if (num_sensors() < 2 || status(1) <= AP_GPS::NO_GPS) {
if (num_instances < 2 || status(1) <= AP_GPS::NO_GPS) {
return;
}
// when we have a GPS then only send new data

2
libraries/AP_GPS/AP_GPS.h
View File

@ -166,7 +166,7 @@ public:
return status(primary_instance);
}
// Query the highest status this GPS supports
// Query the highest status this GPS supports (always reports GPS_OK_FIX_3D for the blended GPS)
GPS_Status highest_supported_status(uint8_t instance) const;
// location of last fix