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AP_GPS: work-around for invalid time reported by PX4 GPS

This commit is contained in:
Holger Steinhaus 2014-11-28 13:27:49 +01:00
parent df7c4baed9
commit ebed80cd2a
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_GPS/AP_GPS_PX4.cpp
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@ -71,6 +71,12 @@ AP_GPS_PX4::read(void)
uint64_t gps_ms = epoch_ms - DELTA_POSIX_GPS_EPOCH + LEAP_MS_GPS_2014; uint64_t gps_ms = epoch_ms - DELTA_POSIX_GPS_EPOCH + LEAP_MS_GPS_2014;
state.time_week = uint16_t(gps_ms / uint64_t(MS_PER_WEEK)); state.time_week = uint16_t(gps_ms / uint64_t(MS_PER_WEEK));
state.time_week_ms = uint32_t(gps_ms - uint64_t(state.time_week)*MS_PER_WEEK); state.time_week_ms = uint32_t(gps_ms - uint64_t(state.time_week)*MS_PER_WEEK);
if (_gps_pos.time_gps_usec == 0) {
// This is a work-around for https://github.com/PX4/Firmware/issues/1474
// reject position reports with invalid time, as APM adjusts it's clock after the first lock has been aquired
state.status = AP_GPS::NO_FIX;
}
} }
if (_gps_pos.fix_type >= 3) { if (_gps_pos.fix_type >= 3) {
state.have_vertical_velocity = _gps_pos.vel_ned_valid; state.have_vertical_velocity = _gps_pos.vel_ned_valid;