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AP_GPS: don't consider uBlox PVT time correct unless we have 2D fix 

the time may be set by an offline assistance client and may not be
accurate
This commit is contained in:
Andrew Tridgell 2017-06-01 18:12:53 +10:00
parent 39e75c5b67
commit 681e2d7993
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -1719,8 +1719,10 @@ AP_GPS_UBLOX::_parse_gps(void)
state.hdop = _buffer.pvt.p_dop;
state.vdop = _buffer.pvt.p_dop;
}
state.last_gps_time_ms = AP_HAL::millis();
if (_buffer.pvt.fix_type >= 2) {
state.last_gps_time_ms = AP_HAL::millis();
}
// time
state.time_week_ms = _buffer.pvt.itow;