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AP_GPS: Fix MAVLink message field SYSTEM_TIME.time_unix_usec when GPS_AUTO_SWITCH = blend

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The mavlink message field SYSTEM_TIME.time_unix_usec works fine with GPS_AUTO_SWITCH == 0 (no switch) or ==1 (usebest)
But when GPS_AUTO_SWITCH == 2 (blend) then state[GPS_BLENDED_INSTANCE].last_gps_time_ms gets initialized with 0 and never rewritten.

The consequence: SYSTEM_TIME.time_unix_usec gets stuck at zero.
The solution: Do not reset state[GPS_BLENDED_INSTANCE].last_gps_time_ms because it would overwrite the correct value already set on line 1149
This commit is contained in:
Dr.-Ing. Amilcar Do Carmo Lucas 2017-09-13 20:12:14 +02:00 committed by Francisco Ferreira
parent 85b7f1bbb4
commit d3a18e803e
1 changed files with 0 additions and 1 deletions
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libraries/AP_GPS/AP_GPS.cpp
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@ -1305,7 +1305,6 @@ void AP_GPS::calc_blended_state(void)
state[GPS_BLENDED_INSTANCE].have_speed_accuracy = false;
state[GPS_BLENDED_INSTANCE].have_horizontal_accuracy = false;
state[GPS_BLENDED_INSTANCE].have_vertical_accuracy = false;
state[GPS_BLENDED_INSTANCE].last_gps_time_ms = 0;
memset(&state[GPS_BLENDED_INSTANCE].location, 0, sizeof(state[GPS_BLENDED_INSTANCE].location));
_blended_antenna_offset.zero();