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AP_GPS: only give time if we have a 3D fix

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and ensure we configure rate for GGA and RMC for Unicore
This commit is contained in:
Andrew Tridgell 2022-11-24 08:45:28 +11:00
parent 6c9cbe1a58
commit d2d6dc8ce4
1 changed files with 7 additions and 2 deletions
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9
libraries/AP_GPS/AP_GPS_NMEA.cpp
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@ -309,7 +309,9 @@ bool AP_GPS_NMEA::_term_complete()
state.ground_speed = _new_speed*0.01f;
state.ground_course = wrap_360(_new_course*0.01f);
}
make_gps_time(_new_date, _new_time * 10);
if (state.status >= AP_GPS::GPS_OK_FIX_3D) {
make_gps_time(_new_date, _new_time * 10);
}
set_uart_timestamp(_sentence_length);
state.last_gps_time_ms = now;
if (_last_vvelocity_ms == 0 ||
@ -759,7 +761,10 @@ void AP_GPS_NMEA::send_config(void)
FALLTHROUGH;
case AP_GPS::GPS_TYPE_UNICORE_NMEA: {
port->printf("\r\nAGRICA %.3f\r\n", rate_s);
port->printf("\r\nAGRICA %.3f\r\n" \
"GNGGA %.3f\r\n" \
"GNRMC %.3f\r\n",
rate_s, rate_s, rate_s);
_expect_agrica = true;
break;
}