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MAVLink app: Send GPS uncertainty via MAVLink 2

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This is needed by some consumers like transponders.
This commit is contained in:
Lorenz Meier 2017-07-22 23:27:48 +02:00
parent d83e54cde5
commit 286c3d41d3
1 changed files with 7 additions and 2 deletions
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9
src/modules/mavlink/mavlink_messages.cpp
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@ -1030,8 +1030,13 @@ protected:
msg.lat = gps.lat;
msg.lon = gps.lon;
msg.alt = gps.alt;
msg.eph = gps.hdop * 100; //cm_uint16_from_m_float(gps.eph);
msg.epv = gps.vdop * 100; //cm_uint16_from_m_float(gps.epv);
msg.alt_ellipsoid = gps.alt_ellipsoid;
msg.eph = gps.hdop * 100;
msg.epv = gps.vdop * 100;
msg.h_acc = gps.eph * 1e3f;
msg.v_acc = gps.epv * 1e3f;
msg.vel_acc = gps.s_variance_m_s * 1e3f;
msg.hdg_acc = gps.c_variance_rad * 1e5f / M_DEG_TO_RAD_F;
msg.vel = cm_uint16_from_m_float(gps.vel_m_s),
msg.cog = _wrap_2pi(gps.cog_rad) * M_RAD_TO_DEG_F * 1e2f,
msg.satellites_visible = gps.satellites_used;