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AP_GPS: fix dataflash logging of blended GPS instance

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Dr.-Ing. Amilcar do Carmo Lucas 2020-08-24 17:26:49 +02:00 committed by Peter Barker
parent a12c2a6b87
commit 58f0c34612
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_GPS/AP_GPS.cpp
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@ -1661,6 +1661,7 @@ void AP_GPS::calc_blended_state(void)
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++) {
@ -1716,6 +1717,7 @@ 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;
}
}
@ -1801,6 +1803,13 @@ void AP_GPS::calc_blended_state(void)
}
timing[GPS_BLENDED_INSTANCE].last_fix_time_ms = (uint32_t)temp_time_1;
timing[GPS_BLENDED_INSTANCE].last_message_time_ms = (uint32_t)temp_time_2;
#ifndef HAL_BUILD_AP_PERIPH
if (data_should_be_logged &&
should_log()) {
AP::logger().Write_GPS(GPS_BLENDED_INSTANCE);
}
#endif
}
#endif // GPS_BLENDED_INSTANCE