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AP_GPS: Add fix status 3D+DGPS

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mirkix 2015-06-18 16:53:28 +02:00 committed by Andrew Tridgell
parent 15efae5a48
commit 38a8a772f8
2 changed files with 10 additions and 3 deletions
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10
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -468,7 +468,10 @@ AP_GPS_UBLOX::_parse_gps(void)
_buffer.status.fix_status,
_buffer.status.fix_type);
if (_buffer.status.fix_status & NAV_STATUS_FIX_VALID) {
if( _buffer.status.fix_type == AP_GPS_UBLOX::FIX_3D) {
if( (_buffer.status.fix_type == AP_GPS_UBLOX::FIX_3D) &&
(_buffer.status.fix_status & AP_GPS_UBLOX::NAV_STATUS_DGPS_USED)) {
next_fix = AP_GPS::GPS_OK_FIX_3D_DGPS;
}else if( _buffer.status.fix_type == AP_GPS_UBLOX::FIX_3D) {
next_fix = AP_GPS::GPS_OK_FIX_3D;
}else if (_buffer.status.fix_type == AP_GPS_UBLOX::FIX_2D) {
next_fix = AP_GPS::GPS_OK_FIX_2D;
@ -490,7 +493,10 @@ AP_GPS_UBLOX::_parse_gps(void)
_buffer.solution.fix_status,
_buffer.solution.fix_type);
if (_buffer.solution.fix_status & NAV_STATUS_FIX_VALID) {
if( _buffer.solution.fix_type == AP_GPS_UBLOX::FIX_3D) {
if( (_buffer.solution.fix_type == AP_GPS_UBLOX::FIX_3D) &&
(_buffer.solution.fix_status & AP_GPS_UBLOX::NAV_STATUS_DGPS_USED)) {
next_fix = AP_GPS::GPS_OK_FIX_3D_DGPS;
}else if( _buffer.solution.fix_type == AP_GPS_UBLOX::FIX_3D) {
next_fix = AP_GPS::GPS_OK_FIX_3D;
}else if (_buffer.solution.fix_type == AP_GPS_UBLOX::FIX_2D) {
next_fix = AP_GPS::GPS_OK_FIX_2D;

3
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -276,7 +276,8 @@ private:
FIX_TIME = 5
};
enum ubx_nav_status_bits {
NAV_STATUS_FIX_VALID = 1
NAV_STATUS_FIX_VALID = 1,
NAV_STATUS_DGPS_USED = 2
};
enum ubx_hardware_version {
ANTARIS = 0,