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AP_GPS: improved fake ublox to give enough for EKF health

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This commit is contained in:
Andrew Tridgell 2015-09-04 11:49:23 +10:00
parent e87139eb32
commit 6fbe88ba3a
1 changed files with 11 additions and 5 deletions
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16
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -529,15 +529,17 @@ AP_GPS_UBLOX::_parse_gps(void)
state.location.alt = _buffer.posllh.altitude_msl / 10;
state.status = next_fix;
_new_position = true;
#if UBLOX_FAKE_3DLOCK
state.location.lng = 1491652300L;
state.location.lat = -353632610L;
state.location.alt = 58400;
#endif
state.horizontal_accuracy = _buffer.posllh.horizontal_accuracy*1.0e-3f;
state.vertical_accuracy = _buffer.posllh.vertical_accuracy*1.0e-3f;
state.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true;
#if UBLOX_FAKE_3DLOCK
state.location.lng = 1491652300L;
state.location.lat = -353632610L;
state.location.alt = 58400;
state.vertical_accuracy = 0;
state.horizontal_accuracy = 0;
#endif
break;
case MSG_STATUS:
Debug("MSG_STATUS fix_status=%u fix_type=%u",
@ -616,6 +618,7 @@ AP_GPS_UBLOX::_parse_gps(void)
state.time_week = 1721;
state.time_week_ms = hal.scheduler->millis() + 3*60*60*1000 + 37000;
state.last_gps_time_ms = hal.scheduler->millis();
state.hdop = 130;
#endif
break;
case MSG_VELNED:
@ -629,6 +632,9 @@ AP_GPS_UBLOX::_parse_gps(void)
state.velocity.z = _buffer.velned.ned_down * 0.01f;
state.have_speed_accuracy = true;
state.speed_accuracy = _buffer.velned.speed_accuracy*0.01f;
#if UBLOX_FAKE_3DLOCK
state.speed_accuracy = 0;
#endif
_new_speed = true;
break;
#if UBLOX_VERSION_AUTODETECTION