diff options
Diffstat (limited to 'apps/gps/ubx.c')
| -rw-r--r-- | apps/gps/ubx.c | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/apps/gps/ubx.c b/apps/gps/ubx.c index f676ffdfb..03ae622a1 100644 --- a/apps/gps/ubx.c +++ b/apps/gps/ubx.c @@ -479,6 +479,10 @@ int ubx_parse(uint8_t b, char *gps_rx_buffer) if (ubx_state->ck_a == packet->ck_a && ubx_state->ck_b == packet->ck_b) { ubx_gps->vel = (uint16_t)packet->speed; + ubx_gps->vel_n = packet->velN / 100.0f; + ubx_gps->vel_e = packet->velE / 100.0f; + ubx_gps->vel_d = packet->velD / 100.0f; + ubx_gps->vel_ned_valid = true; ubx_gps->cog = (uint16_t)((float)(packet->heading) * 1e-3f); ubx_gps->timestamp = hrt_absolute_time(); |