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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-25 17:25:42 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-25 17:25:42 +0200 |
| commit | ed9fbbce5946d22ded1519ddec1b5ff6a8f2e511 (patch) | |
| tree | d719793cb905d2b40b0d80b5acfb3452008c6b5f /apps/drivers/gps/ubx.cpp | |
| parent | d62058eccf7d3801a752aac11fb2c37f198a239c (diff) | |
| download | px4-firmware-ed9fbbce5946d22ded1519ddec1b5ff6a8f2e511.tar.gz px4-firmware-ed9fbbce5946d22ded1519ddec1b5ff6a8f2e511.tar.bz2 px4-firmware-ed9fbbce5946d22ded1519ddec1b5ff6a8f2e511.zip | |
HIL bugfixing
Diffstat (limited to 'apps/drivers/gps/ubx.cpp')
| -rw-r--r-- | apps/drivers/gps/ubx.cpp | 18 |
1 files changed, 13 insertions, 5 deletions
diff --git a/apps/drivers/gps/ubx.cpp b/apps/drivers/gps/ubx.cpp index 0d4894b8d..c150f5271 100644 --- a/apps/drivers/gps/ubx.cpp +++ b/apps/drivers/gps/ubx.cpp @@ -33,7 +33,14 @@ * ****************************************************************************/ -/* @file U-Blox protocol implementation */ +/** + * @file ubx.cpp + * + * U-Blox protocol implementation. Following u-blox 6/7 Receiver Description + * including Prototol Specification. + * + * @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf + */ #include <unistd.h> #include <stdio.h> @@ -633,16 +640,17 @@ UBX::handle_message() } case NAV_VELNED: { -// printf("GOT NAV_VELNED MESSAGE\n"); if (!_waiting_for_ack) { + /* 35.15 NAV-VELNED (0x01 0x12) message (page 181 / 210 of reference manual */ gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer; _gps_position->vel_m_s = (float)packet->speed * 1e-2f; - _gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; - _gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; - _gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; + _gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */ + _gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */ + _gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */ _gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f; + _gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f; _gps_position->vel_ned_valid = true; _gps_position->timestamp_velocity = hrt_absolute_time(); } |