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ubx driver: fix unit of speed and position accuracy estimate

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Thomas Gubler
2014-05-30 14:41:35 +02:00
parent 861249d571
commit 718206bd6d
1 changed files with 2 additions and 2 deletions
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src/drivers/gps/ubx.cpp
+2 -2
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@@ -447,8 +447,8 @@ UBX::handle_message()
gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer;
_gps_position->fix_type = packet->gpsFix;
_gps_position->s_variance_m_s = packet->sAcc;
_gps_position->p_variance_m = packet->pAcc;
_gps_position->s_variance_m_s = (float)packet->sAcc * 1e-2f; // from cm/s to m/s
_gps_position->p_variance_m = (float)packet->pAcc * 1e-2f; // from cm to m
_gps_position->timestamp_variance = hrt_absolute_time();
ret = 1;