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SITL: populate speed accuracy uBlox messages from SITL parameters

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Peter Barker 2024-04-30 15:23:33 +10:00 committed by Peter Barker
parent 6ddc237334
commit c08d982c0c
1 changed files with 2 additions and 2 deletions
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4
libraries/SITL/SIM_GPS_UBLOX.cpp
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@ -216,7 +216,7 @@ void GPS_UBlox::publish(const GPS_Data *d)
if (velned.heading_2d < 0.0f) { if (velned.heading_2d < 0.0f) {
velned.heading_2d += 360.0f * 100000.0f; velned.heading_2d += 360.0f * 100000.0f;
} }
velned.speed_accuracy = 40; velned.speed_accuracy = _sitl->gps_vel_err[instance].get().xy().length() * 100; // m/s -> cm/s
velned.heading_accuracy = 4; velned.heading_accuracy = 4;
memset(&sol, 0, sizeof(sol)); memset(&sol, 0, sizeof(sol));
@ -260,7 +260,7 @@ void GPS_UBlox::publish(const GPS_Data *d)
pvt.velD = 1000.0f * d->speedD; pvt.velD = 1000.0f * d->speedD;
pvt.gspeed = norm(d->speedN, d->speedE) * 1000; pvt.gspeed = norm(d->speedN, d->speedE) * 1000;
pvt.head_mot = ToDeg(atan2f(d->speedE, d->speedN)) * 1.0e5; pvt.head_mot = ToDeg(atan2f(d->speedE, d->speedN)) * 1.0e5;
pvt.s_acc = 40; pvt.s_acc = velned.speed_accuracy;
pvt.head_acc = 38 * 1.0e5; pvt.head_acc = 38 * 1.0e5;
pvt.p_dop = 65535; pvt.p_dop = 65535;
memset(pvt.reserved1, '\0', ARRAY_SIZE(pvt.reserved1)); memset(pvt.reserved1, '\0', ARRAY_SIZE(pvt.reserved1));