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AP_GPS: Read the vdop information from a ublox GPS

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Michael du Breuil 2015-09-07 15:22:12 -07:00 committed by Andrew Tridgell
parent f9a1102e96
commit 0e3a188f6f
2 changed files with 3 additions and 0 deletions
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1
libraries/AP_GPS/AP_GPS.h
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@ -131,6 +131,7 @@ public:
float ground_speed; ///< ground speed in m/sec
int32_t ground_course_cd; ///< ground course in 100ths of a degree
uint16_t hdop; ///< horizontal dilution of precision in cm
uint16_t vdop; ///< vertical dilution of precision in cm
uint8_t num_sats; ///< Number of visible satelites
Vector3f velocity; ///< 3D velocitiy in m/s, in NED format
float speed_accuracy;

2
libraries/AP_GPS/AP_GPS_UBLOX.cpp
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@ -582,8 +582,10 @@ AP_GPS_UBLOX::_parse_gps(void)
Debug("MSG_DOP");
noReceivedHdop = false;
state.hdop = _buffer.dop.hDOP;
state.vdop = _buffer.dop.vDOP;
#if UBLOX_FAKE_3DLOCK
state.hdop = 130;
state.hdop = 170;
#endif
break;
case MSG_SOL: