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author | Julian Oes <julian@oes.ch> | 2014-05-26 20:19:11 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-05-26 20:19:11 +0200 |
commit | 063caba36bd2fe26eb4bfa8e546e9551ccc05519 (patch) | |
tree | d8ea5015111793800d945fbc33505088cf5fe12d /src/drivers/gps/mtk.cpp | |
parent | 68352cb923d366b66bb68c8d946c4960b6f7ff1a (diff) | |
parent | 36495cdb62e21b30a5a1851ec802c9f6a40c1171 (diff) | |
download | px4-firmware-063caba36bd2fe26eb4bfa8e546e9551ccc05519.tar.gz px4-firmware-063caba36bd2fe26eb4bfa8e546e9551ccc05519.tar.bz2 px4-firmware-063caba36bd2fe26eb4bfa8e546e9551ccc05519.zip |
Merge branch 'master' into navigator_rewrite
Conflicts:
src/drivers/gps/gps.cpp
src/drivers/gps/mtk.cpp
src/modules/commander/commander.cpp
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
src/modules/navigator/mission.cpp
src/modules/navigator/mission.h
src/modules/navigator/navigator_main.cpp
src/modules/navigator/navigator_state.h
src/modules/position_estimator_inav/position_estimator_inav_main.c
Diffstat (limited to 'src/drivers/gps/mtk.cpp')
-rw-r--r-- | src/drivers/gps/mtk.cpp | 10 |
1 files changed, 8 insertions, 2 deletions
diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index 99f88fb8a..ea4e95fb2 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -249,12 +249,18 @@ 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_m = 1000.0f; + _gps_position->epv_m = 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 = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit - _gps_position->epv = 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; |