fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-06-28 07:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fix EPH / EPV conversion for MediaTek units

Browse Source
This commit is contained in:
Lorenz Meier
2014-05-19 21:06:32 +02:00
parent 98f05ea5c1
commit ce62f07379
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/gps/mtk.cpp
+2 -2
View File
@@ -253,8 +253,8 @@ MTK::handle_message(gps_mtk_packet_t &packet)
_gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
_gps_position->fix_type = packet.fix_type;
_gps_position->eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit
_gps_position->epv_m = 0.0; //unknown in mtk custom mode
_gps_position->eph_m = packet.hdop / 100.0f; // from cm to m
_gps_position->epv_m = _gps_position->eph_m; // unknown in mtk custom mode, so we cheat with eph
_gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // 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_visible = packet.satellites;