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Use NAV-PVT with ubx7 and ubx8 modules

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This replaces NAV-SOL, NAV-POSLLH, NAV-VELNED and NAV-TIMEUTC.
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Kynos
2014-07-03 13:33:29 +02:00
parent 23164228c8
commit 1cca3ca8a5
5 changed files with 113 additions and 25 deletions
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src/modules/mavlink/mavlink_receiver.cpp
-1
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@@ -741,7 +741,6 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
hil_gps.timestamp_variance = timestamp;
hil_gps.s_variance_m_s = 5.0f;
hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph;
hil_gps.timestamp_velocity = timestamp;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s