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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-27 14:40:24 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-27 14:40:24 +0400 |
| commit | 464df9c5e8cac88c24ee080337970df74edcd239 (patch) | |
| tree | 228d90d380f21b4f3af1157fe0ef8e7357c39fba /src/modules/mavlink/mavlink_receiver.cpp | |
| parent | 61a3177979838649af2a6e8e50bea7d15e2765f4 (diff) | |
| download | px4-firmware-464df9c5e8cac88c24ee080337970df74edcd239.tar.gz px4-firmware-464df9c5e8cac88c24ee080337970df74edcd239.tar.bz2 px4-firmware-464df9c5e8cac88c24ee080337970df74edcd239.zip | |
mavlink: HIL GPS velocity fix
Diffstat (limited to 'src/modules/mavlink/mavlink_receiver.cpp')
| -rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 7b6fad658..e8e02e1e3 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -579,6 +579,7 @@ handle_message(mavlink_message_t *msg) hil_gps.alt = gps.alt; hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m + hil_gps.timestamp_variance = gps.time_usec; hil_gps.s_variance_m_s = 5.0f; hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m; hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s @@ -590,6 +591,7 @@ handle_message(mavlink_message_t *msg) if (heading_rad > M_PI_F) heading_rad -= 2.0f * M_PI_F; + hil_gps.timestamp_velocity = gps.time_usec; hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m |