GPS driver: Populate HDOP / VDOP fields

src/drivers/gps/ashtech.cpp

@@ -269,7 +269,7 @@ int ASHTECH::handle_message(int len)
 		double ashtech_time __attribute__((unused)) = 0.0, lat = 0.0, lon = 0.0, alt = 0.0;
 		int num_of_sv __attribute__((unused)) = 0, fix_quality = 0;
 		double track_true = 0.0, ground_speed = 0.0 , age_of_corr __attribute__((unused)) = 0.0;
-		double hdop __attribute__((unused)) = 99.9, vdop __attribute__((unused)) = 99.9,  pdop __attribute__((unused)) = 99.9,
+		double hdop = 99.9, vdop = 99.9,  pdop __attribute__((unused)) = 99.9,
 		tdop __attribute__((unused)) = 99.9, vertic_vel = 0.0;
 		char ns = '?', ew = '?';
 
@@ -338,6 +338,8 @@ int ASHTECH::handle_message(int len)
 		_gps_position->lat = static_cast<int>((int(lat * 0.01) + (lat * 0.01 - int(lat * 0.01)) * 100.0 / 60.0) * 10000000);
 		_gps_position->lon = static_cast<int>((int(lon * 0.01) + (lon * 0.01 - int(lon * 0.01)) * 100.0 / 60.0) * 10000000);
 		_gps_position->alt = static_cast<int>(alt * 1000);
+		_gps_position->hdop = (float)hdop / 100.0f;
+		_gps_position->vdop = (float)vdop / 100.0f;
 		_rate_count_lat_lon++;
 
 		if (coordinatesFound < 3) {

src/drivers/gps/mtk.cpp

@@ -261,6 +261,8 @@ MTK::handle_message(gps_mtk_packet_t &packet)
 	_gps_position->fix_type = packet.fix_type;
 	_gps_position->eph = packet.hdop / 100.0f; // from cm to m
 	_gps_position->epv = _gps_position->eph; // unknown in mtk custom mode, so we cheat with eph
+	_gps_position->hdop = packet.hdop / 100.0f;
+	_gps_position->vdop = _gps_position->hdop;
 	_gps_position->vel_m_s = ((float)packet.ground_speed) / 100.0f; // from cm/s to m/s
 	_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
 	_gps_position->satellites_used = packet.satellites;

src/drivers/gps/ubx.cpp

@@ -808,6 +808,9 @@ UBX::payload_rx_done(void)
 		_gps_position->epv		= (float)_buf.payload_rx_nav_pvt.vAcc * 1e-3f;
 		_gps_position->s_variance_m_s	= (float)_buf.payload_rx_nav_pvt.sAcc * 1e-3f;
 
+		_gps_position->hdop		= (float)_buf.payload_rx_nav_pvt.pDOP * 0.01f;
+		_gps_position->vdop		= _gps_position->hdop;
+
 		_gps_position->vel_m_s		= (float)_buf.payload_rx_nav_pvt.gSpeed * 1e-3f;
 
 		_gps_position->vel_n_m_s	= (float)_buf.payload_rx_nav_pvt.velN * 1e-3f;
@@ -891,6 +894,9 @@ UBX::payload_rx_done(void)
 		_gps_position->s_variance_m_s	= (float)_buf.payload_rx_nav_sol.sAcc * 1e-2f;	// from cm to m
 		_gps_position->satellites_used	= _buf.payload_rx_nav_sol.numSV;
 
+		_gps_position->hdop		= (float)_buf.payload_rx_nav_sol.pDOP * 0.01f;
+		_gps_position->vdop		= _gps_position->hdop;
+
 		_gps_position->timestamp_variance = hrt_absolute_time();
 
 		ret = 1;