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AP_GPS: SBF report VDOP

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Michael du Breuil 2017-05-21 19:10:00 -07:00 committed by Francisco Ferreira
parent 7e5aa5bc4c
commit 397ae00526
3 changed files with 5 additions and 6 deletions
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3
libraries/AP_GPS/AP_GPS.cpp
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@ -447,6 +447,7 @@ void AP_GPS::detect_instance(uint8_t instance)
state[instance].instance = instance;
state[instance].status = NO_GPS;
state[instance].hdop = 9999;
state[instance].vdop = 9999;
switch (_type[instance]) {
// by default the sbf/trimble gps outputs no data on its port, until configured.
@ -578,6 +579,7 @@ void AP_GPS::update_instance(uint8_t instance)
// not enabled
state[instance].status = NO_GPS;
state[instance].hdop = 9999;
state[instance].vdop = 9999;
return;
}
if (locked_ports & (1U<<instance)) {
@ -613,6 +615,7 @@ void AP_GPS::update_instance(uint8_t instance)
state[instance].instance = instance;
state[instance].status = NO_GPS;
state[instance].hdop = 9999;
state[instance].vdop = 9999;
timing[instance].last_message_time_ms = tnow;
}
} else {

7
libraries/AP_GPS/AP_GPS_SBF.cpp
View File

@ -210,8 +210,6 @@ AP_GPS_SBF::process_message(void)
state.last_gps_time_ms = AP_HAL::millis();
state.hdop = last_hdop;
// Update velocity state (don't use −2·10^10)
if (temp.Vn > -200000) {
state.velocity.x = (float)(temp.Vn);
@ -285,9 +283,8 @@ AP_GPS_SBF::process_message(void)
else if (blockid == 4001) {
const msg4001 &temp = sbf_msg.data.msg4001u;
last_hdop = temp.HDOP;
state.hdop = last_hdop;
state.hdop = temp.HDOP;
state.vdop = temp.VDOP;
}
// ReceiverStatus
else if (blockid == 4014) {

1
libraries/AP_GPS/AP_GPS_SBF.h
View File

@ -60,7 +60,6 @@ private:
"spm, Rover, StandAlone+SBAS+DGPS+RTK\n",
"sso, Stream2, Dsk1, postprocess+event, msec100\n"};
uint32_t last_hdop = 9999;
uint32_t crc_error_counter = 0;
uint32_t last_injected_data_ms = 0;
bool validcommand = false;