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AP_GPS: populate extension fields in GPS2_RAW

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Peter Barker 2021-04-18 12:51:22 +10:00 committed by Peter Barker
parent 9cc883a8c0
commit a7e0c565dc
1 changed files with 12 additions and 1 deletions
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13
libraries/AP_GPS/AP_GPS.cpp
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@ -1285,6 +1285,12 @@ void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
} }
const Location &loc = location(1); const Location &loc = location(1);
float hacc = 0.0f;
float vacc = 0.0f;
float sacc = 0.0f;
horizontal_accuracy(1, hacc);
vertical_accuracy(1, vacc);
speed_accuracy(1, sacc);
mavlink_msg_gps2_raw_send( mavlink_msg_gps2_raw_send(
chan, chan,
last_fix_time_ms(1)*(uint64_t)1000, last_fix_time_ms(1)*(uint64_t)1000,
@ -1299,7 +1305,12 @@ void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
num_sats(1), num_sats(1),
state[1].rtk_num_sats, state[1].rtk_num_sats,
state[1].rtk_age_ms, state[1].rtk_age_ms,
gps_yaw_cdeg(1)); gps_yaw_cdeg(1),
0, // TODO: Elipsoid height in mm
hacc * 1000, // one-sigma standard deviation in mm
vacc * 1000, // one-sigma standard deviation in mm
sacc * 1000, // one-sigma standard deviation in mm/s
0); // TODO one-sigma heading accuracy standard deviation
} }
#endif // GPS_MAX_RECEIVERS #endif // GPS_MAX_RECEIVERS