diff options
-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 19cf5beec..7502809bd 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -447,8 +447,8 @@ UBX::handle_message() gps_bin_nav_sol_packet_t *packet = (gps_bin_nav_sol_packet_t *) _rx_buffer; _gps_position->fix_type = packet->gpsFix; - _gps_position->s_variance_m_s = packet->sAcc; - _gps_position->p_variance_m = packet->pAcc; + _gps_position->s_variance_m_s = (float)packet->sAcc * 1e-2f; // from cm/s to m/s + _gps_position->p_variance_m = (float)packet->pAcc * 1e-2f; // from cm to m _gps_position->timestamp_variance = hrt_absolute_time(); ret = 1; |