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AP_GPS: u-blox: don't throw 5hz update warnings if no fix 

5hz update warnings are only valid if you have a fix, without a fix it adds load
to the GPS without any benefit. Our _5hz time messages are depenend upon GPS fix
time which isn't available yet
This commit is contained in:
Michael du Breuil 2016-02-12 15:23:18 -07:00 committed by Tom Pittenger
parent da01ceee53
commit 217a06322b
1 changed files with 5 additions and 2 deletions
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7
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -186,8 +186,10 @@ AP_GPS_UBLOX::_request_next_config(void)
#endif
break;
case STEP_VERSION:
if(!_have_version && !hal.util->get_soft_armed()) {
if(!_have_version && !hal.util->get_soft_armed()) {
_request_version();
} else {
_unconfigured_messages &= ~CONFIG_VERSION;
}
// no need to send the initial rates, move to checking only
_next_message = STEP_PORT;
@ -960,7 +962,8 @@ AP_GPS_UBLOX::_parse_gps(void)
// this ensures we don't use stale data
if (_new_position && _new_speed && _last_vel_time == _last_pos_time) {
_new_speed = _new_position = false;
if (AP_HAL::millis() - _last_5hz_time > 10000U) {
// allow the GPS configuration to run through the full loop at least once before throwing this
if (state.status != AP_GPS::NO_FIX && AP_HAL::millis() - _last_5hz_time > 20000U) {
// the gps seems to be slow, possibly due to a brown out
// invalidate the config so it can be reset
_last_5hz_time = AP_HAL::millis();