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

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;