diff options
Diffstat (limited to 'src/drivers/gps/mtk.cpp')
| -rw-r--r-- | src/drivers/gps/mtk.cpp | 12 |
1 files changed, 9 insertions, 3 deletions
diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index c90ecbe28..c4f4f7bec 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -249,15 +249,21 @@ MTK::handle_message(gps_mtk_packet_t &packet) warnx("mtk: unknown revision"); _gps_position->lat = 0; _gps_position->lon = 0; + + // Indicate this data is not usable and bail out + _gps_position->eph = 1000.0f; + _gps_position->epv = 1000.0f; + _gps_position->fix_type = 0; + return; } _gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm _gps_position->fix_type = packet.fix_type; - _gps_position->eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit - _gps_position->epv_m = 0.0; //unknown in mtk custom mode + _gps_position->eph = packet.hdop / 100.0f; // from cm to m + _gps_position->epv = _gps_position->eph; // unknown in mtk custom mode, so we cheat with eph _gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s _gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad - _gps_position->satellites_visible = packet.satellites; + _gps_position->satellites_used = packet.satellites; /* convert time and date information to unix timestamp */ struct tm timeinfo; //TODO: test this conversion |