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Merge sAcc & pAcc scaling fix from branch inav_gps_delay

This commit is contained in:
Kynos 2014-06-15 17:26:14 +02:00
parent 137564b4a6
commit 1b8e72be1b
1 changed files with 2 additions and 2 deletions
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4
src/drivers/gps/ubx.cpp
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@ -643,8 +643,8 @@ UBX::payload_rx_done(void)
UBX_TRACE_RXMSG("Rx NAV-SOL\n"); UBX_TRACE_RXMSG("Rx NAV-SOL\n");
_gps_position->fix_type = _buf.payload_rx_nav_sol.gpsFix; _gps_position->fix_type = _buf.payload_rx_nav_sol.gpsFix;
_gps_position->s_variance_m_s = _buf.payload_rx_nav_sol.sAcc; _gps_position->s_variance_m_s = (float)_buf.payload_rx_nav_sol.sAcc * 1e-2f; // from cm to m
_gps_position->p_variance_m = _buf.payload_rx_nav_sol.pAcc; _gps_position->p_variance_m = (float)_buf.payload_rx_nav_sol.pAcc * 1e-2f; // from cm to m
_gps_position->satellites_used = _buf.payload_rx_nav_sol.numSV; _gps_position->satellites_used = _buf.payload_rx_nav_sol.numSV;
_gps_position->timestamp_variance = hrt_absolute_time(); _gps_position->timestamp_variance = hrt_absolute_time();