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AP_GPS: Change to STM32's faster processing operations

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murata 2021-05-11 23:08:27 +09:00 committed by Andrew Tridgell
parent 0cd97ce3d8
commit 747de2c28c
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_GPS/AP_GPS_MAV.cpp
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@ -146,15 +146,15 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
state.hdop = MIN(packet.eph, GPS_UNKNOWN_DOP);
state.vdop = MIN(packet.epv, GPS_UNKNOWN_DOP);
if (packet.vel < 65535) {
state.ground_speed = packet.vel / 100.0f;
state.ground_speed = packet.vel * 0.01f;
}
Vector3f vel(packet.vn/100.0f, packet.ve/100.0f, packet.vd/100.0f);
Vector3f vel(packet.vn*0.01f, packet.ve*0.01f, packet.vd*0.01f);
state.velocity = vel;
if (packet.vd != 0) {
state.have_vertical_velocity = true;
}
if (packet.cog < 36000) {
state.ground_course = packet.cog / 100.0f;
state.ground_course = packet.cog * 0.01f;
}
state.have_speed_accuracy = false;
state.have_horizontal_accuracy = false;