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AP_GPS: correct logging for GPS blending

This commit is contained in:
Peter Barker 2020-11-19 12:53:42 +11:00 committed by Peter Barker
parent 58f0c34612
commit e257dd9fee
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_GPS/AP_GPS.cpp
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@ -1659,9 +1659,11 @@ void AP_GPS::calc_blended_state(void)
_blended_antenna_offset.zero();
_blended_lag_sec = 0;
#ifndef HAL_BUILD_AP_PERIPH
const uint32_t last_blended_message_time_ms = timing[GPS_BLENDED_INSTANCE].last_message_time_ms;
#endif
timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = 0;
timing[GPS_BLENDED_INSTANCE].last_message_time_ms = 0;
bool data_should_be_logged = false;
// combine the states into a blended solution
for (uint8_t i=0; i<GPS_MAX_RECEIVERS; i++) {
@ -1717,9 +1719,7 @@ void AP_GPS::calc_blended_state(void)
}
if (timing[i].last_message_time_ms > timing[GPS_BLENDED_INSTANCE].last_message_time_ms) {
timing[GPS_BLENDED_INSTANCE].last_message_time_ms = timing[i].last_message_time_ms;
data_should_be_logged = true;
}
}
/*
@ -1805,7 +1805,7 @@ void AP_GPS::calc_blended_state(void)
timing[GPS_BLENDED_INSTANCE].last_message_time_ms = (uint32_t)temp_time_2;
#ifndef HAL_BUILD_AP_PERIPH
if (data_should_be_logged &&
if (timing[GPS_BLENDED_INSTANCE].last_message_time_ms > last_blended_message_time_ms &&
should_log()) {
AP::logger().Write_GPS(GPS_BLENDED_INSTANCE);
}