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AP_GPS: fixed GPS for Replay

This commit is contained in:
Andrew Tridgell 2014-04-01 17:25:15 +11:00
parent 9278685cdf
commit 7e2ef0cfc0
2 changed files with 9 additions and 4 deletions
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10
libraries/AP_GPS/AP_GPS.cpp
View File

@ -27,13 +27,13 @@ const AP_Param::GroupInfo AP_GPS::var_info[] PROGMEM = {
// @Param: TYPE
// @DisplayName: GPS type
// @Description: GPS type
// @Values: 0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF
// @Values: 0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL
AP_GROUPINFO("TYPE", 0, AP_GPS, _type[0], 1),
// @Param: TYPE2
// @DisplayName: 2nd GPS type
// @Description: GPS type of 2nd GPS
// @Values: 0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF
// @Values: 0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL
AP_GROUPINFO("TYPE2", 1, AP_GPS, _type[1], 0),
// @Param: NAVFILTER
@ -194,6 +194,10 @@ AP_GPS::detect_instance(uint8_t instance)
void
AP_GPS::update_instance(uint8_t instance)
{
if (_type[instance] == GPS_TYPE_HIL) {
// in HIL, leave info alone
return;
}
if (_type[instance] == GPS_TYPE_NONE) {
// not enabled
state[instance].status = NO_GPS;
@ -269,5 +273,5 @@ AP_GPS::setHIL(GPS_Status _status, uint64_t time_epoch_ms,
istate.time_week_ms = time_epoch_ms - istate.time_week*(86400*7*(uint64_t)1000);
timing[0].last_message_time_ms = tnow;
timing[0].last_fix_time_ms = tnow;
_type[0].set(GPS_TYPE_NONE);
_type[0].set(GPS_TYPE_HIL);
}

3
libraries/AP_GPS/AP_GPS.h
View File

@ -64,7 +64,8 @@ public:
GPS_TYPE_MTK = 3,
GPS_TYPE_MTK19 = 4,
GPS_TYPE_NMEA = 5,
GPS_TYPE_SIRF = 6
GPS_TYPE_SIRF = 6,
GPS_TYPE_HIL = 7
};
/// GPS status codes