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AP_GPS: Ublox: fall back to the DOP if hDOP hasn't come in yet

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Provides a stable fallback, and can be considered fairly safe from the perspective that it provides a worse value then the hDOP under almost all scenarios.
This commit is contained in:
Michael du Breuil 2015-08-07 03:20:55 -07:00 committed by Andrew Tridgell
parent 3851862f60
commit bc26eaab63
2 changed files with 7 additions and 0 deletions
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5
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -49,6 +49,7 @@ AP_GPS_UBLOX::AP_GPS_UBLOX(AP_GPS &_gps, AP_GPS::GPS_State &_state, AP_HAL::UART
_payload_counter(0),
_fix_count(0),
_class(0),
noRecievedHdop(true),
_new_position(0),
_new_speed(0),
need_rate_update(false),
@ -579,6 +580,7 @@ AP_GPS_UBLOX::_parse_gps(void)
break;
case MSG_DOP:
Debug("MSG_DOP");
noRecievedHdop = false;
state.hdop = _buffer.dop.hDOP;
#if UBLOX_FAKE_3DLOCK
state.hdop = 130;
@ -604,6 +606,9 @@ AP_GPS_UBLOX::_parse_gps(void)
next_fix = AP_GPS::NO_FIX;
state.status = AP_GPS::NO_FIX;
}
if(noRecievedHdop) {
state.hdop = _buffer.solution.position_DOP;
}
state.num_sats = _buffer.solution.satellites;
if (next_fix >= AP_GPS::GPS_OK_FIX_2D) {
state.last_gps_time_ms = hal.scheduler->millis();

2
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -402,6 +402,8 @@ private:
uint8_t rate_update_step;
uint32_t _last_5hz_time;
bool noRecievedHdop;
void _configure_navigation_rate(uint16_t rate_ms);
void _configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate);
void _configure_gps(void);