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AP_GPS: Publish the number of satellites in the RTK correction messages, and the age of the RTK correction messages

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Dr.-Ing. Amilcar Do Carmo Lucas 2017-07-05 18:19:19 +02:00 committed by Randy Mackay
parent ae47ac5a09
commit b791fef7cb
2 changed files with 4 additions and 1 deletions
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2
libraries/AP_GPS/AP_GPS_NOVA.cpp
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@ -206,6 +206,8 @@ AP_GPS_NOVA::process_message(void)
state.vertical_accuracy = (float) bestposu.hgtsdev;
state.have_horizontal_accuracy = true;
state.have_vertical_accuracy = true;
state.rtk_age_ms = bestposu.diffage * 1000;
state.rtk_num_sats = bestposu.svsused;
if (bestposu.solstat == 0) // have a solution
{

3
libraries/AP_GPS/AP_GPS_SBF.cpp
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@ -223,7 +223,8 @@ AP_GPS_SBF::process_message(void)
state.ground_speed = (float)safe_sqrt(ground_vector_sq);
state.ground_course = wrap_360(degrees(atan2f(state.velocity[1], state.velocity[0])));
state.rtk_age_ms = temp.MeanCorrAge * 10;
// value is expressed as twice the rms error = int16 * 0.01/2
state.horizontal_accuracy = (float)temp.HAccuracy * 0.005f;
state.vertical_accuracy = (float)temp.VAccuracy * 0.005f;