While AC gets GPS data from a GCS, it can cause some kernel panic according to the GPS data.
This can be reproduced in SITL by doing the following:
- param set GPS_TYPE 14
- The GCS sends the GPS data which contain 0 as its latitude and longitude.
master.mav.gps_input_send( timestamp, #Timestamp (micros since boot or Unix epoch) 0, #ID of the GPS for multiple GPS inputs 8|16|32, #Flags indicating which fields to ignore (see GPS_INPUT_IGNORE_FLAGS enum). All other fields must be provided. GPStime, #GPS time (milliseconds from start of GPS week) 2, #GPS week number 3, #0-1: no fix, 2: 2D fix, 3: 3D fix. 4: 3D with DGPS. 5: 3D with RTK 0, #Latitude (WGS84), in degrees * 1E7 0, #Longitude (WGS84), in degrees * 1E7 alt, #Altitude (AMSL, not WGS84), in m (positive for up) 1, #GPS HDOP horizontal dilution of position in m 1, #GPS VDOP vertical dilution of position in m 0, #GPS velocity in m/s in NORTH direction in earth-fixed NED frame 0, #GPS velocity in m/s in EAST direction in earth-fixed NED frame 0, #GPS velocity in m/s in DOWN direction in earth-fixed NED frame 0, #GPS speed accuracy in m/s 0, #GPS horizontal accuracy in m 0, #GPS vertical accuracy in m 7 #Number of satellites visible. )
ArduSub and ArduPlane are okay with this situation, but ArduCopter shows kernel panic.