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mavlink: HIL GPS velocity fix

This commit is contained in:
Anton Babushkin 2013-12-27 14:40:24 +04:00
parent 61a3177979
commit 464df9c5e8
1 changed files with 2 additions and 0 deletions
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2
src/modules/mavlink/mavlink_receiver.cpp
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@ -579,6 +579,7 @@ handle_message(mavlink_message_t *msg)
hil_gps.alt = gps.alt;
hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.timestamp_variance = gps.time_usec;
hil_gps.s_variance_m_s = 5.0f;
hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
@ -590,6 +591,7 @@ handle_message(mavlink_message_t *msg)
if (heading_rad > M_PI_F)
heading_rad -= 2.0f * M_PI_F;
hil_gps.timestamp_velocity = gps.time_usec;
hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m
hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m