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Rover: GPS fix to ensure we only look at new GPS messages

This commit is contained in:
Grant Morphett 2015-10-30 16:20:28 +11:00 committed by Andrew Tridgell
parent e81973cd29
commit bbbbd07935
2 changed files with 4 additions and 1 deletions
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3
APMrover2/APMrover2.cpp
View File

@ -348,7 +348,8 @@ void Rover::update_GPS_10Hz(void)
{
have_position = ahrs.get_position(current_loc);
if (have_position && gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
if (gps.last_message_time_ms() != last_gps_msg_ms && gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
last_gps_msg_ms = gps.last_message_time_ms();
if (ground_start_count > 1){
ground_start_count--;

2
APMrover2/Rover.h
View File

@ -375,6 +375,8 @@ private:
// we need to run the speed controller
bool auto_throttle_mode;
// Store the time the last GPS message was received.
uint32_t last_gps_msg_ms{0};
private:
// private member functions