diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-30 17:03:02 +0200 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-30 17:03:02 +0200 |
commit | 478f923331cb8c3fd0e98a99afee462e4e158d44 (patch) | |
tree | 59242aaa2fd8df814317e96117648fc4598c50c3 /src/drivers/gps/mtk.cpp | |
parent | 8a25c48071ed794b33e23f7ff7737cded58bea11 (diff) | |
parent | 3c5f35da73cb6c37cf45a06909631e13b762f76d (diff) | |
download | px4-firmware-478f923331cb8c3fd0e98a99afee462e4e158d44.tar.gz px4-firmware-478f923331cb8c3fd0e98a99afee462e4e158d44.tar.bz2 px4-firmware-478f923331cb8c3fd0e98a99afee462e4e158d44.zip |
Merged master into mpc_in_flight_lock
Diffstat (limited to 'src/drivers/gps/mtk.cpp')
-rw-r--r-- | src/drivers/gps/mtk.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index 680f00d97..41716cd97 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -251,16 +251,16 @@ MTK::handle_message(gps_mtk_packet_t &packet) _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->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 / 100.0f; // from cm to m - _gps_position->epv_m = _gps_position->eph_m; // unknown in mtk custom mode, so we cheat with eph + _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; |