aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_GPS: fixed fake uBlox with PVT message support

Browse Source
This commit is contained in:
Andrew Tridgell 2017-02-20 19:43:31 +11:00
parent 97145f20fc
commit 3ce7e4b322
1 changed files with 14 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -1000,6 +1000,20 @@ AP_GPS_UBLOX::_parse_gps(void)
// time
state.time_week_ms = _buffer.pvt.itow;
#if UBLOX_FAKE_3DLOCK
state.location.lng = 1491652300L;
state.location.lat = -353632610L;
state.location.alt = 58400;
state.vertical_accuracy = 0;
state.horizontal_accuracy = 0;
state.status = AP_GPS::GPS_OK_FIX_3D;
state.num_sats = 10;
state.time_week = 1721;
state.time_week_ms = AP_HAL::millis() + 3*60*60*1000 + 37000;
state.last_gps_time_ms = AP_HAL::millis();
state.hdop = 130;
next_fix = state.status;
#endif
break;
case MSG_VELNED:
Debug("MSG_VELNED");