Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: Allow HIL_GPS to flag vertical velocity

Browse Source 
Closes #7997
This commit is contained in:
Michael du Breuil 2018-04-04 12:36:57 -07:00 committed by Francisco Ferreira
parent 3bad3b2e68
commit 362fb470c4
1 changed files with 5 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_GPS/AP_GPS_MAV.cpp
View File

@ -132,12 +132,15 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t *msg)
}
Vector3f vel(packet.vn/100.0f, packet.ve/100.0f, packet.vd/100.0f);
state.velocity = vel;
if (packet.vd != 0) {
state.have_vertical_velocity = true;
}
if (packet.cog < 36000) {
state.ground_course = packet.cog / 100.0f;
}
state.have_speed_accuracy = false;
state.have_horizontal_accuracy = 0;
state.have_vertical_accuracy = 0;
state.have_horizontal_accuracy = false;
state.have_vertical_accuracy = false;
if (packet.satellites_visible < 255) {
state.num_sats = packet.satellites_visible;
}