From 63874dfffd8de764b430aa012c47a3a7c536bac5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 25 Feb 2014 21:10:49 +1100
Subject: [PATCH] AP_NavEKF: set fix type in GPS replay

---
 libraries/AP_NavEKF/examples/AP_NavEKF/AP_NavEKF.pde | 1 +
 libraries/AP_NavEKF/examples/AP_NavEKF/LogReader.cpp | 5 +++--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF/examples/AP_NavEKF/AP_NavEKF.pde b/libraries/AP_NavEKF/examples/AP_NavEKF/AP_NavEKF.pde
index 924bd30095..7e0a488e5e 100644
--- a/libraries/AP_NavEKF/examples/AP_NavEKF/AP_NavEKF.pde
+++ b/libraries/AP_NavEKF/examples/AP_NavEKF/AP_NavEKF.pde
@@ -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();
         }
     }
diff --git a/libraries/AP_NavEKF/examples/AP_NavEKF/LogReader.cpp b/libraries/AP_NavEKF/examples/AP_NavEKF/LogReader.cpp
index 26722ebc1e..fc3afac119 100644
--- a/libraries/AP_NavEKF/examples/AP_NavEKF/LogReader.cpp
+++ b/libraries/AP_NavEKF/examples/AP_NavEKF/LogReader.cpp
@@ -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;
         }