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AP_GPS: provide hdop and speed accuracy with UAVCAN GPS

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This commit is contained in:
Andrew Tridgell 2015-08-21 20:59:53 +10:00
parent a11227af84
commit 31f20db139
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_GPS/AP_GPS_PX4.cpp
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@ -64,6 +64,7 @@ AP_GPS_PX4::read(void)
state.ground_speed = _gps_pos.vel_m_s;
state.ground_course_cd = int32_t(double(_gps_pos.cog_rad) / M_PI * 18000. +.5);
state.hdop = _gps_pos.eph*100;
// convert epoch timestamp back to gps epoch - evil hack until we get the genuine
// raw week information (or APM switches to Posix epoch ;-) )
@ -83,6 +84,8 @@ AP_GPS_PX4::read(void)
state.velocity.x = _gps_pos.vel_n_m_s;
state.velocity.y = _gps_pos.vel_e_m_s;
state.velocity.z = _gps_pos.vel_d_m_s;
state.speed_accuracy = _gps_pos.s_variance_m_s;
state.have_speed_accuracy = true;
}
else {
state.have_vertical_velocity = false;