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Rover: add support for GPS fix type 2D

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Randy Mackay 2013-03-25 19:09:04 +09:00 committed by rmackay9
parent 27309a553f
commit 6cb47cee6b
2 changed files with 4 additions and 9 deletions
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2
APMrover2/APMrover2.pde
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@ -800,7 +800,7 @@ static void update_GPS(void)
have_position = ahrs.get_position(&current_loc); have_position = ahrs.get_position(&current_loc);
if (g_gps->new_data && g_gps->status() == GPS::GPS_OK) { if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
gps_fix_count++; gps_fix_count++;
if(ground_start_count > 1){ if(ground_start_count > 1){

11
APMrover2/GCS_Mavlink.pde
View File

@ -112,7 +112,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
control_sensors_present |= (1<<2); // compass present control_sensors_present |= (1<<2); // compass present
} }
control_sensors_present |= (1<<3); // absolute pressure sensor present control_sensors_present |= (1<<3); // absolute pressure sensor present
if (g_gps != NULL && g_gps->status() == GPS::GPS_OK) { if (g_gps != NULL && g_gps->status() >= GPS::NO_FIX) {
control_sensors_present |= (1<<5); // GPS present control_sensors_present |= (1<<5); // GPS present
} }
control_sensors_present |= (1<<10); // 3D angular rate control control_sensors_present |= (1<<10); // 3D angular rate control
@ -213,7 +213,7 @@ static void NOINLINE send_location(mavlink_channel_t chan)
// positions. // positions.
// If we don't have a GPS fix then we are dead reckoning, and will // If we don't have a GPS fix then we are dead reckoning, and will
// use the current boot time as the fix time. // use the current boot time as the fix time.
if (g_gps->status() == GPS::GPS_OK) { if (g_gps->status() >= GPS::GPS_OK_FIX_2D) {
fix_time = g_gps->last_fix_time; fix_time = g_gps->last_fix_time;
} else { } else {
fix_time = millis(); fix_time = millis();
@ -248,15 +248,10 @@ static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
static void NOINLINE send_gps_raw(mavlink_channel_t chan) static void NOINLINE send_gps_raw(mavlink_channel_t chan)
{ {
uint8_t fix = g_gps->status();
if (fix == GPS::GPS_OK) {
fix = 3;
}
mavlink_msg_gps_raw_int_send( mavlink_msg_gps_raw_int_send(
chan, chan,
g_gps->last_fix_time*(uint64_t)1000, g_gps->last_fix_time*(uint64_t)1000,
fix, g_gps->status(),
g_gps->latitude, // in 1E7 degrees g_gps->latitude, // in 1E7 degrees
g_gps->longitude, // in 1E7 degrees g_gps->longitude, // in 1E7 degrees
g_gps->altitude * 10, // in mm g_gps->altitude * 10, // in mm