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

AP_NavEKF: set fix type in GPS replay

This commit is contained in:
Andrew Tridgell 2014-02-25 21:10:49 +11:00
parent d7b2a09919
commit 63874dfffd
2 changed files with 4 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
libraries/AP_NavEKF/examples/AP_NavEKF/AP_NavEKF.pde
View File

@ -172,6 +172,7 @@ static void read_sensors(uint8_t type)
barometer.read();
if (!done_baro_init) {
done_baro_init = true;
::printf("Barometer initialised\n");
barometer.update_calibration();
}
}

5
libraries/AP_NavEKF/examples/AP_NavEKF/LogReader.cpp
View File

@ -285,14 +285,15 @@ bool LogReader::update(uint8_t &type)
}
memcpy(&msg, data, sizeof(msg));
wait_timestamp(msg.apm_time);
gps->setHIL(msg.apm_time,
gps->setHIL(msg.status==3?GPS::FIX_3D:GPS::FIX_NONE,
msg.apm_time,
msg.latitude*1.0e-7f,
msg.longitude*1.0e-7f,
msg.altitude*1.0e-2f,
msg.ground_speed*1.0e-2f,
msg.ground_course*1.0e-2f,
0,
msg.status==3?msg.num_sats:0);
msg.num_sats);
if (msg.status == 3 && ground_alt_cm == 0) {
ground_alt_cm = msg.altitude;
}