From 33234f4dc0fc881e9559bbb71a4af2ac6dd6a94d Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Wed, 1 May 2024 14:31:10 -0400
Subject: [PATCH] drivers/ins/vectornav: add missing sensor_gps velocity
 magnitude

---
 src/drivers/ins/vectornav/VectorNav.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/drivers/ins/vectornav/VectorNav.cpp b/src/drivers/ins/vectornav/VectorNav.cpp
index 369e56298e..991b126295 100644
--- a/src/drivers/ins/vectornav/VectorNav.cpp
+++ b/src/drivers/ins/vectornav/VectorNav.cpp
@@ -441,10 +441,11 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
 			sensor_gps.altitude_msl_m = positionGpsLla.c[2];
 			sensor_gps.altitude_ellipsoid_m = sensor_gps.altitude_msl_m;
 
-			sensor_gps.vel_ned_valid = true;
+			sensor_gps.vel_m_s = matrix::Vector3f(velocityGpsNed.c).length();
 			sensor_gps.vel_n_m_s = velocityGpsNed.c[0];
 			sensor_gps.vel_e_m_s = velocityGpsNed.c[1];
 			sensor_gps.vel_d_m_s = velocityGpsNed.c[2];
+			sensor_gps.vel_ned_valid = true;
 
 			sensor_gps.hdop = dop.hDOP;
 			sensor_gps.vdop = dop.vDOP;