AP_GPS: don't consider uBlox PVT time correct unless we have 2D fix

the time may be set by an offline assistance client and may not be accurate
ArduPilot · Jul 2, 2024 · 681e2d7 · 681e2d7
1 parent 39e75c5
commit 681e2d7
Showing 1 changed file with 4 additions and 2 deletions.
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -1719,8 +1719,10 @@ AP_GPS_UBLOX::_parse_gps(void)
             state.hdop        = _buffer.pvt.p_dop;
             state.vdop        = _buffer.pvt.p_dop;
         }
-
-        state.last_gps_time_ms = AP_HAL::millis();
+
+        if (_buffer.pvt.fix_type >= 2) {
+            state.last_gps_time_ms = AP_HAL::millis();
+        }
 
         // time
         state.time_week_ms    = _buffer.pvt.itow;