fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 11:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

GPS driver: Populate HDOP / VDOP fields

Browse Source
This commit is contained in:
Lorenz Meier
2016-02-25 13:45:34 +01:00
parent 9b5c9b0c8a
commit 56c95dc9c8
3 changed files with 11 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gps/ubx.cpp
+6
View File
@@ -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;