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AP_InertialNav: updates for new GPS API

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This commit is contained in:
Andrew Tridgell 2013-10-23 22:14:33 +11:00
parent b7b9efd120
commit 19ba07a3f9
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -125,13 +125,13 @@ void AP_InertialNav::check_gps()
uint32_t now = hal.scheduler->millis(); uint32_t now = hal.scheduler->millis();
// compare gps time to previous reading // compare gps time to previous reading
if( _gps != NULL && _gps->time != _gps_last_time ) { if( _gps != NULL && _gps->last_fix_time != _gps_last_time ) {
// call position correction method // call position correction method
correct_with_gps(now, _gps->longitude, _gps->latitude); correct_with_gps(now, _gps->longitude, _gps->latitude);
// record gps time and system time of this update // record gps time and system time of this update
_gps_last_time = _gps->time; _gps_last_time = _gps->last_fix_time;
}else{ }else{
// clear position error if GPS updates stop arriving // clear position error if GPS updates stop arriving
if (now - _gps_last_update > AP_INTERTIALNAV_GPS_TIMEOUT_MS) { if (now - _gps_last_update > AP_INTERTIALNAV_GPS_TIMEOUT_MS) {
@ -414,4 +414,4 @@ void AP_InertialNav::set_position_xy(float pos_x, float pos_y)
_historic_xy_counter = 0; _historic_xy_counter = 0;
_hist_position_estimate_x.add(_position_base.x); _hist_position_estimate_x.add(_position_base.x);
_hist_position_estimate_y.add(_position_base.y); _hist_position_estimate_y.add(_position_base.y);
} }