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GPS driver UBX: Support hdop and vdop

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This commit is contained in:
Lorenz Meier
2016-02-25 13:45:34 +01:00
parent 6f484c04bd
commit 8fcf24f23f
3 changed files with 34 additions and 6 deletions
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src/drivers/gps/ubx.cpp
+17 -5
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@@ -237,6 +237,12 @@ UBX::configure(unsigned &baudrate)
return 1;
}
configure_message_rate(UBX_MSG_NAV_DOP, 1);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
return 1;
}
configure_message_rate(UBX_MSG_NAV_VELNED, 1);
if (wait_for_ack(UBX_MSG_CFG_MSG, UBX_CONFIG_TIMEOUT, true) < 0) {
@@ -808,9 +814,6 @@ 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;
@@ -894,10 +897,19 @@ 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;
break;
case UBX_MSG_NAV_DOP:
UBX_TRACE_RXMSG("Rx NAV-DOP\n");
_gps_position->hdop = _buf.payload_rx_nav_dop.hDOP * 0.01f; // from cm to m
_gps_position->vdop = _buf.payload_rx_nav_dop.vDOP * 0.01f; // from cm to m
_gps_position->timestamp_variance = hrt_absolute_time();
warnx("DOOOP!");
ret = 1;
break;