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Replay: fixed handling of dual-GPS HDop field

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This commit is contained in:
Andrew Tridgell 2015-06-18 09:28:59 +10:00
parent 6ba8cd05ff
commit 9e36e2c562
1 changed files with 6 additions and 1 deletions
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7
Tools/Replay/LR_MsgHandler.cpp
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@ -137,13 +137,18 @@ void LR_MsgHandler_GPS_Base::update_from_msg_gps(uint8_t gps_offset, uint8_t *ms
ground_vel_from_msg(msg, vel, "Spd", "GCrs", "VZ");
uint8_t status = require_field_uint8_t(msg, "Status");
uint8_t hdop = 0;
if (! field_value(msg, "HDop", hdop) &&
! field_value(msg, "HDp", hdop)) {
hdop = 20;
}
gps.setHIL(gps_offset,
(AP_GPS::GPS_Status)status,
uint32_t(time_us/1000),
loc,
vel,
require_field_uint8_t(msg, "NSats"),
require_field_uint8_t(msg, "HDop"),
hdop,
require_field_float(msg, "VZ") != 0);
if (status == AP_GPS::GPS_OK_FIX_3D && ground_alt_cm == 0) {
ground_alt_cm = require_field_int32_t(msg, "Alt");