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| author | Kynos <mail01@delago.net> | 2014-06-15 17:26:14 +0200 |
|---|---|---|
| committer | Kynos <mail01@delago.net> | 2014-06-15 17:26:14 +0200 |
| commit | 1b8e72be1b9614bff4e1bdf81ad7f3265754e062 (patch) | |
| tree | e543b516ab3984c10da758b697593af4bc17755d /src/drivers/gps | |
| parent | 137564b4a6b78c82a4c38ebd02782c531f259c19 (diff) | |
| download | px4-firmware-1b8e72be1b9614bff4e1bdf81ad7f3265754e062.tar.gz px4-firmware-1b8e72be1b9614bff4e1bdf81ad7f3265754e062.tar.bz2 px4-firmware-1b8e72be1b9614bff4e1bdf81ad7f3265754e062.zip | |
Merge sAcc & pAcc scaling fix from branch inav_gps_delay
Diffstat (limited to 'src/drivers/gps')
| -rw-r--r-- | src/drivers/gps/ubx.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 1783ae0f7..56e7a8bd7 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -643,8 +643,8 @@ UBX::payload_rx_done(void) UBX_TRACE_RXMSG("Rx NAV-SOL\n"); _gps_position->fix_type = _buf.payload_rx_nav_sol.gpsFix; - _gps_position->s_variance_m_s = _buf.payload_rx_nav_sol.sAcc; - _gps_position->p_variance_m = _buf.payload_rx_nav_sol.pAcc; + _gps_position->s_variance_m_s = (float)_buf.payload_rx_nav_sol.sAcc * 1e-2f; // from cm to m + _gps_position->p_variance_m = (float)_buf.payload_rx_nav_sol.pAcc * 1e-2f; // from cm to m _gps_position->satellites_used = _buf.payload_rx_nav_sol.numSV; _gps_position->timestamp_variance = hrt_absolute_time(); |