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AP_GPS: fix SBP supported status

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This commit is contained in:
Francisco Ferreira 2017-01-28 17:29:38 +00:00
parent d3d6099540
commit 512bd08326
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GPG Key ID: F63C20A6773E787E
2 changed files with 3 additions and 3 deletions
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4
libraries/AP_GPS/AP_GPS_SBP.cpp
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@ -282,10 +282,10 @@ AP_GPS_SBP::_attempt_state_update()
if (pos_llh->flags == 0) if (pos_llh->flags == 0)
state.status = AP_GPS::GPS_OK_FIX_3D; state.status = AP_GPS::GPS_OK_FIX_3D;
else if (pos_llh->flags == 2)
state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
else if (pos_llh->flags == 1) else if (pos_llh->flags == 1)
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT; state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT;
else if (pos_llh->flags == 2)
state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
last_full_update_tow = last_vel_ned.tow; last_full_update_tow = last_vel_ned.tow;

2
libraries/AP_GPS/AP_GPS_SBP.h
View File

@ -29,7 +29,7 @@ class AP_GPS_SBP : public AP_GPS_Backend
public: public:
AP_GPS_SBP(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port); AP_GPS_SBP(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UARTDriver *_port);
AP_GPS::GPS_Status highest_supported_status(void) { return AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT; } AP_GPS::GPS_Status highest_supported_status(void) { return AP_GPS::GPS_OK_FIX_3D_RTK_FIXED; }
// Methods // Methods
bool read(); bool read();