From 286c3d41d3e45b15d3f4e729fd727780757017bc Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 22 Jul 2017 23:27:48 +0200 Subject: [PATCH] MAVLink app: Send GPS uncertainty via MAVLink 2 This is needed by some consumers like transponders. --- src/modules/mavlink/mavlink_messages.cpp | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 924875b42b..2db6551b25 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -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;