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AP_GPS: change HIL GPS to always be 5Hz 

this prevents too short updates in DCM from affecting attitude
This commit is contained in:
Andrew Tridgell 2013-11-23 18:30:27 +11:00
parent 490a061c6f
commit 72415ed358
1 changed files with 8 additions and 1 deletions
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9
libraries/AP_GPS/AP_GPS_HIL.cpp
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@ -24,6 +24,8 @@
#include <AP_HAL.h> #include <AP_HAL.h>
#include "AP_GPS_HIL.h" #include "AP_GPS_HIL.h"
extern const AP_HAL::HAL& hal;
// Public Methods ////////////////////////////////////////////////////////////// // Public Methods //////////////////////////////////////////////////////////////
void AP_GPS_HIL::init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting) void AP_GPS_HIL::init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting)
{ {
@ -32,9 +34,14 @@ void AP_GPS_HIL::init(AP_HAL::UARTDriver *s, enum GPS_Engine_Setting nav_setting
bool AP_GPS_HIL::read(void) bool AP_GPS_HIL::read(void)
{ {
if ((hal.scheduler->millis() - last_fix_time) < 200) {
// simulate a 5Hz GPS
return false;
}
bool result = _updated; bool result = _updated;
// return true once for each update pushed in // return true once for each update pushed in
new_data = true;
_updated = false; _updated = false;
return result; return result;
} }
@ -52,7 +59,7 @@ void AP_GPS_HIL::setHIL(uint64_t _time_epoch_ms, float _latitude, float _longitu
speed_3d_cm = _speed_3d*1.0e2f; speed_3d_cm = _speed_3d*1.0e2f;
num_sats = _num_sats; num_sats = _num_sats;
fix = FIX_3D; fix = FIX_3D;
new_data = true; hdop = 200;
_updated = true; _updated = true;
} }