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AP_GPS: cope with UAVCAN GPS that don't provide Aux message 

thanks to @VadimZ for the suggestion
This commit is contained in:
Andrew Tridgell 2019-11-28 13:41:29 +11:00
parent 17ec9534cb
commit a7bd55d7be
2 changed files with 15 additions and 0 deletions
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14
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
View File

@ -240,6 +240,12 @@ void AP_GPS_UAVCAN::handle_fix_msg(const FixCb &cb)
interim_state.num_sats = 0;
}
if (!seen_aux) {
// if we haven't seen an Aux message then populate vdop and
// hdop from pdop. Some GPS modules don't provide the Aux message
interim_state.hdop = interim_state.vdop = cb.msg->pdop * 100.0;
}
interim_state.last_gps_time_ms = AP_HAL::millis();
_new_data = true;
@ -345,6 +351,12 @@ void AP_GPS_UAVCAN::handle_fix2_msg(const Fix2Cb &cb)
interim_state.num_sats = 0;
}
if (!seen_aux) {
// if we haven't seen an Aux message then populate vdop and
// hdop from pdop. Some GPS modules don't provide the Aux message
interim_state.hdop = interim_state.vdop = cb.msg->pdop * 100.0;
}
interim_state.last_gps_time_ms = AP_HAL::millis();
_new_data = true;
@ -364,10 +376,12 @@ void AP_GPS_UAVCAN::handle_aux_msg(const AuxCb &cb)
WITH_SEMAPHORE(sem);
if (!uavcan::isNaN(cb.msg->hdop)) {
seen_aux = true;
interim_state.hdop = cb.msg->hdop * 100.0;
}
if (!uavcan::isNaN(cb.msg->vdop)) {
seen_aux = true;
interim_state.vdop = cb.msg->vdop * 100.0;
}
}

1
libraries/AP_GPS/AP_GPS_UAVCAN.h
View File

@ -62,6 +62,7 @@ private:
uint8_t _detected_module;
bool seen_message;
bool seen_fix2;
bool seen_aux;
// Module Detection Registry
static struct DetectedModules {