Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-20 15:48:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_SITL: don't advance clock on garbage SIM input

Browse Source
This commit is contained in:
Andrew Tridgell 2015-05-21 21:17:22 +10:00
parent 4c96ec26e5
commit cd66ce1c74
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_HAL_SITL/SITL_State.cpp
View File

@ -242,10 +242,6 @@ void SITL_State::_fdm_input(void)
return; return;
} }
hal.scheduler->stop_clock(d.fg_pkt.timestamp_us);
_synthetic_clock_mode = true;
got_fg_input = true;
if (d.fg_pkt.latitude == 0 || if (d.fg_pkt.latitude == 0 ||
d.fg_pkt.longitude == 0 || d.fg_pkt.longitude == 0 ||
d.fg_pkt.altitude <= 0) { d.fg_pkt.altitude <= 0) {
@ -253,6 +249,10 @@ void SITL_State::_fdm_input(void)
return; return;
} }
hal.scheduler->stop_clock(d.fg_pkt.timestamp_us);
_synthetic_clock_mode = true;
got_fg_input = true;
if (_sitl != NULL) { if (_sitl != NULL) {
_sitl->state = d.fg_pkt; _sitl->state = d.fg_pkt;
// prevent bad inputs from SIM from corrupting our state // prevent bad inputs from SIM from corrupting our state