dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

ekf_main: fill gps gdop topic with pdop (combination of hdop and vdop)

This commit is contained in:
bresch 2019-11-13 18:15:07 +01:00 committed by Mathieu Bresciani
parent 07938692d4
commit 5d6e0587db
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/ekf2/ekf2_main.cpp
View File

@ -944,8 +944,8 @@ void Ekf2::Run()
_gps_state[0].vel_ned[2] = gps.vel_d_m_s;
_gps_state[0].vel_ned_valid = gps.vel_ned_valid;
_gps_state[0].nsats = gps.satellites_used;
//TODO: add gdop to gps topic
_gps_state[0].gdop = 0.0f;
const float tdop = 0.9f;
_gps_state[0].gdop = sqrtf(gps.hdop * gps.hdop + gps.vdop * gps.vdop + tdop * tdop);
_gps_alttitude_ellipsoid[0] = gps.alt_ellipsoid;
ekf2_timestamps.gps_timestamp_rel = (int16_t)((int64_t)gps.timestamp / 100 - (int64_t)ekf2_timestamps.timestamp / 100);
@ -975,8 +975,8 @@ void Ekf2::Run()
_gps_state[1].vel_ned[2] = gps.vel_d_m_s;
_gps_state[1].vel_ned_valid = gps.vel_ned_valid;
_gps_state[1].nsats = gps.satellites_used;
//TODO: add gdop to gps topic
_gps_state[1].gdop = 0.0f;
const float tdop = 0.9f;
_gps_state[0].gdop = sqrtf(gps.hdop * gps.hdop + gps.vdop * gps.vdop + tdop * tdop);
_gps_alttitude_ellipsoid[1] = gps.alt_ellipsoid;
}
}