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

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -1720,7 +1720,9 @@ AP_GPS_UBLOX::_parse_gps(void)
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;