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https://github.com/ArduPilot/ardupilot
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AP_GPS: Add horizontal, vertical and speed accuracy to the GPS_RAW_INT message
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@ -890,6 +890,12 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
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last_send_time_ms[chan] = now;
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last_send_time_ms[chan] = now;
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}
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}
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const Location &loc = location(0);
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const Location &loc = location(0);
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float hacc = 0.0f;
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float vacc = 0.0f;
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float sacc = 0.0f;
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horizontal_accuracy(0, hacc);
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vertical_accuracy(0, vacc);
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speed_accuracy(0, sacc);
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mavlink_msg_gps_raw_int_send(
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mavlink_msg_gps_raw_int_send(
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chan,
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chan,
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last_fix_time_ms(0)*(uint64_t)1000,
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last_fix_time_ms(0)*(uint64_t)1000,
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@ -901,7 +907,12 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
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get_vdop(0),
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get_vdop(0),
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ground_speed(0)*100, // cm/s
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ground_speed(0)*100, // cm/s
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ground_course(0)*100, // 1/100 degrees,
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ground_course(0)*100, // 1/100 degrees,
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num_sats(0));
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num_sats(0),
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0, // TODO: Elipsoid height in mm
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hacc * 1000, // one-sigma standard deviation in mm
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vacc * 1000, // one-sigma standard deviation in mm
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sacc * 1000, // one-sigma standard deviation in mm/s
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0); // TODO one-sigma heading accuracy standard deviation
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}
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}
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void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
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void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
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