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GPS: added FAKE_GPS_LOCK_TIME

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this allows you to fake up a GPS lock after a specific number of
seconds
This commit is contained in:
Andrew Tridgell 2011-12-04 08:48:59 +11:00
parent 346a572440
commit b4965d34a9
1 changed files with 10 additions and 0 deletions
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10
libraries/AP_GPS/AP_GPS_MTK16.cpp
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@ -13,6 +13,7 @@
#include "AP_GPS_MTK16.h" #include "AP_GPS_MTK16.h"
#include <stdint.h> #include <stdint.h>
#include <wiring.h>
// Constructors //////////////////////////////////////////////////////////////// // Constructors ////////////////////////////////////////////////////////////////
AP_GPS_MTK16::AP_GPS_MTK16(Stream *s) : GPS(s) AP_GPS_MTK16::AP_GPS_MTK16(Stream *s) : GPS(s)
@ -141,6 +142,15 @@ restart:
parsed = true; parsed = true;
#ifdef FAKE_GPS_LOCK_TIME
if (millis() > FAKE_GPS_LOCK_TIME*1000) {
fix = true;
latitude = -35000000UL;
longitude = 149000000UL;
altitude = 584;
}
#endif
/* Waiting on clarification of MAVLink protocol! /* Waiting on clarification of MAVLink protocol!
if(!_offset_calculated && parsed) { if(!_offset_calculated && parsed) {
long tempd1 = date; long tempd1 = date;