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AP_GPS: Broadcast vDOP data over mavlink

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Michael du Breuil 2015-09-07 15:37:13 -07:00 committed by Andrew Tridgell
parent 0e3a188f6f
commit 9f02834f6d
2 changed files with 10 additions and 2 deletions
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4
libraries/AP_GPS/AP_GPS.cpp
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@ -551,7 +551,7 @@ AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
loc.lng, // in 1E7 degrees loc.lng, // in 1E7 degrees
loc.alt * 10UL, // in mm loc.alt * 10UL, // in mm
get_hdop(0), get_hdop(0),
65535, get_vdop(0),
ground_speed(0)*100, // cm/s ground_speed(0)*100, // cm/s
ground_course_cd(0), // 1/100 degrees, ground_course_cd(0), // 1/100 degrees,
num_sats(0)); num_sats(0));
@ -580,7 +580,7 @@ AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
loc.lng, loc.lng,
loc.alt * 10UL, loc.alt * 10UL,
get_hdop(1), get_hdop(1),
65535, get_vdop(1),
ground_speed(1)*100, // cm/s ground_speed(1)*100, // cm/s
ground_course_cd(1), // 1/100 degrees, ground_course_cd(1), // 1/100 degrees,
num_sats(1), num_sats(1),

8
libraries/AP_GPS/AP_GPS.h
View File

@ -282,6 +282,14 @@ public:
return get_hdop(primary_instance); return get_hdop(primary_instance);
} }
// vertical dilution of precision
uint16_t get_vdop(uint8_t instance) const {
return _GPS_STATE(instance).vdop;
}
uint16_t get_vdop() const {
return get_vdop(primary_instance);
}
// the time we got our last fix in system milliseconds. This is // the time we got our last fix in system milliseconds. This is
// used when calculating how far we might have moved since that fix // used when calculating how far we might have moved since that fix
uint32_t last_fix_time_ms(uint8_t instance) const { uint32_t last_fix_time_ms(uint8_t instance) const {