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GPS: MAV driver fix for sanity checks of cog, sat count

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This commit is contained in:
Randy Mackay 2016-12-08 09:37:03 +09:00
parent 8118222946
commit b296bc1d00
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_GPS/AP_GPS_MAV.cpp
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@ -130,13 +130,15 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t *msg)
}
Vector3f vel(packet.vn/100.0f, packet.ve/100.0f, packet.vd/100.0f);
state.velocity = vel;
if (packet.cog < 65535) {
if (packet.cog < 36000) {
state.ground_course = packet.cog / 100.0f;
}
state.have_speed_accuracy = 0;
state.have_horizontal_accuracy = 0;
state.have_vertical_accuracy = 0;
state.num_sats = packet.satellites_visible;
if (packet.satellites_visible < 255) {
state.num_sats = packet.satellites_visible;
}
state.last_gps_time_ms = AP_HAL::millis();
_new_data = true;
break;