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Merge pull request #1029 from PX4/ubxaccuracyunit 

ubx driver: fix unit of speed and position accuracy estimate
This commit is contained in:
Lorenz Meier 2014-05-30 05:53:24 -07:00
parent 861249d571 718206bd6d
commit 90d8f7726d
1 changed files with 2 additions and 2 deletions
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4
src/drivers/gps/ubx.cpp
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@ -447,8 +447,8 @@ UBX::handle_message()
gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer;
_gps_position->fix_type = packet->gpsFix;
_gps_position->s_variance_m_s = packet->sAcc;
_gps_position->p_variance_m = packet->pAcc;
_gps_position->s_variance_m_s = (float)packet->sAcc * 1e-2f; // from cm/s to m/s
_gps_position->p_variance_m = (float)packet->pAcc * 1e-2f; // from cm to m
_gps_position->timestamp_variance = hrt_absolute_time();
ret = 1;