Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: review changes

This commit is contained in:
Andrew Tridgell 2022-11-24 17:08:50 +11:00
parent d2d6dc8ce4
commit 55683c51f5
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_GPS/AP_GPS_NMEA.cpp
View File

@ -311,6 +311,9 @@ bool AP_GPS_NMEA::_term_complete()
}
if (state.status >= AP_GPS::GPS_OK_FIX_3D) {
make_gps_time(_new_date, _new_time * 10);
if (_last_AGRICA_ms != 0) {
state.time_week_ms = _last_itow_ms;
}
}
set_uart_timestamp(_sentence_length);
state.last_gps_time_ms = now;
@ -442,7 +445,7 @@ bool AP_GPS_NMEA::_term_complete()
break;
#if AP_GPS_NMEA_UNICORE_ENABLED
case _GPS_SENTENCE_AGRICA: {
auto &ag = _agrica;
const auto &ag = _agrica;
_last_AGRICA_ms = now;
state.location.lat = ag.lat*1.0e7;
state.location.lng = ag.lng*1.0e7;
@ -638,6 +641,7 @@ void AP_GPS_NMEA::parse_agrica_field(uint16_t term_number, const char *term)
{
auto &ag = _agrica;
// subtract 8 to align term numbers with reference manual
// look for "Unicore Reference Command Manual" to find the specification
const uint8_t hdr_align = 8;
if (term_number < hdr_align) {
// discard header;