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AP_GPS: added UBLOX_FAKE_3DLOCK debugging option

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useful when unable to get 3D lock
This commit is contained in:
Andrew Tridgell 2013-10-02 16:10:22 +10:00
parent f1e120113c
commit cee8a017ab
1 changed files with 11 additions and 0 deletions
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11
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -23,6 +23,7 @@
#include <AP_HAL.h> #include <AP_HAL.h>
#define UBLOX_DEBUGGING 0 #define UBLOX_DEBUGGING 0
#define UBLOX_FAKE_3DLOCK 0
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -78,6 +79,8 @@ AP_GPS_UBLOX::send_next_rate_update(void)
return; return;
} }
//hal.console->printf_P(PSTR("next_rate: %u\n"), (unsigned)rate_update_step);
switch (rate_update_step) { switch (rate_update_step) {
case 0: case 0:
_configure_navigation_rate(200); _configure_navigation_rate(200);
@ -296,6 +299,10 @@ AP_GPS_UBLOX::_parse_gps(void)
next_fix = GPS::FIX_NONE; next_fix = GPS::FIX_NONE;
fix = GPS::FIX_NONE; fix = GPS::FIX_NONE;
} }
#if UBLOX_FAKE_3DLOCK
fix = GPS::FIX_3D;
next_fix = fix;
#endif
break; break;
case MSG_SOL: case MSG_SOL:
Debug("MSG_SOL fix_status=%u fix_type=%u", Debug("MSG_SOL fix_status=%u fix_type=%u",
@ -316,6 +323,10 @@ AP_GPS_UBLOX::_parse_gps(void)
} }
num_sats = _buffer.solution.satellites; num_sats = _buffer.solution.satellites;
hdop = _buffer.solution.position_DOP; hdop = _buffer.solution.position_DOP;
#if UBLOX_FAKE_3DLOCK
next_fix = fix;
num_sats = 10;
#endif
break; break;
case MSG_VELNED: case MSG_VELNED:
Debug("MSG_VELNED"); Debug("MSG_VELNED");