Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-05 07:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_GPS_SBF: add accuracy estimates

Browse Source
This commit is contained in:
Michael Oborne 2015-09-09 09:22:41 +08:00 committed by Andrew Tridgell
parent 1103451d36
commit 88cf710f94
2 changed files with 13 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_GPS/AP_GPS_SBF.cpp
View File

@ -218,6 +218,11 @@ AP_GPS_SBF::process_message(void)
state.ground_course_cd = (int32_t)(100 * ToDeg(atan2f(state.velocity[1], state.velocity[0]))); state.ground_course_cd = (int32_t)(100 * ToDeg(atan2f(state.velocity[1], state.velocity[0])));
state.ground_course_cd = wrap_360_cd(state.ground_course_cd); state.ground_course_cd = wrap_360_cd(state.ground_course_cd);
state.horizontal_accuracy = (float)temp.HAccuracy * 0.01f;
state.vertical_accuracy = (float)temp.VAccuracy * 0.01f;
state.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true;
} }
// Update position state (dont use −2·10^10) // Update position state (dont use −2·10^10)

8
libraries/AP_GPS/AP_GPS_SBF.h
View File

@ -82,6 +82,14 @@ private:
uint16_t MeanCorrAge; uint16_t MeanCorrAge;
uint32_t SignalInfo; uint32_t SignalInfo;
uint8_t AlertFlag; uint8_t AlertFlag;
// rev1
uint8_t NrBases;
uint16_t PPPInfo;
// rev2
uint16_t Latency;
uint16_t HAccuracy;
uint16_t VAccuracy;
uint8_t Misc;
}; };
struct PACKED msg4001 struct PACKED msg4001