Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: do not zero options after assigning from location

Browse Source 
On the assumption that the assignment operator knows what it is doing,
and that we have no idea what fields are actually present in options
This commit is contained in:
Peter Barker 2019-01-02 11:01:49 +11:00 committed by Peter Barker
parent 38a649033f
commit 30d5d6b578
3 changed files with 0 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
libraries/AP_GPS/AP_GPS.cpp
View File

@ -819,7 +819,6 @@ void AP_GPS::setHIL(uint8_t instance, GPS_Status _status, uint64_t time_epoch_ms
GPS_State &istate = state[instance];
istate.status = _status;
istate.location = _location;
istate.location.options = 0;
istate.velocity = _velocity;
istate.ground_speed = norm(istate.velocity.x, istate.velocity.y);
istate.ground_course = wrap_360(degrees(atan2f(istate.velocity.y, istate.velocity.x)));

2
libraries/AP_GPS/AP_GPS_MAV.cpp
View File

@ -67,7 +67,6 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t *msg)
loc.alt = packet.alt * 100; // convert to centimeters
}
state.location = loc;
state.location.options = 0;
if (have_hdop) {
state.hdop = packet.hdop * 100; // convert to centimeters
@ -123,7 +122,6 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t *msg)
loc.lng = packet.lon;
loc.alt = packet.alt * 0.1f;
state.location = loc;
state.location.options = 0;
state.hdop = MIN(packet.eph, GPS_UNKNOWN_DOP);
state.vdop = MIN(packet.epv, GPS_UNKNOWN_DOP);
if (packet.vel < 65535) {

1
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
View File

@ -186,7 +186,6 @@ void AP_GPS_UAVCAN::handle_fix_msg(const FixCb &cb)
loc.lng = cb.msg->longitude_deg_1e8 / 10;
loc.alt = cb.msg->height_msl_mm / 10;
interim_state.location = loc;
interim_state.location.options = 0;
if (!uavcan::isNaN(cb.msg->ned_velocity[0])) {
Vector3f vel(cb.msg->ned_velocity[0], cb.msg->ned_velocity[1], cb.msg->ned_velocity[2]);