diff options
Diffstat (limited to 'apps/mavlink/orb_listener.c')
| -rw-r--r-- | apps/mavlink/orb_listener.c | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/apps/mavlink/orb_listener.c b/apps/mavlink/orb_listener.c index ec5149745..9f85d5801 100644 --- a/apps/mavlink/orb_listener.c +++ b/apps/mavlink/orb_listener.c @@ -231,15 +231,15 @@ l_vehicle_gps_position(struct listener *l) /* GPS position */ mavlink_msg_gps_raw_int_send(MAVLINK_COMM_0, - gps.timestamp, + gps.timestamp_position, gps.fix_type, gps.lat, gps.lon, gps.alt, - gps.eph, - gps.epv, - gps.vel, - gps.cog, + (uint16_t)(gps.eph_m * 1e2f), // from m to cm + (uint16_t)(gps.epv_m * 1e2f), // from m to cm + (uint16_t)(gps.vel_m_s * 1e2f), // from m/s to cm/s + (uint16_t)(gps.cog_rad * M_RAD_TO_DEG_F * 1e2f), // from rad to deg * 100 gps.satellites_visible); if (gps.satellite_info_available && (gps_counter % 4 == 0)) { @@ -698,7 +698,7 @@ uorb_receive_start(void) /* --- GPS VALUE --- */ mavlink_subs.gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); - orb_set_interval(mavlink_subs.gps_sub, 1000); /* 1Hz updates */ + orb_set_interval(mavlink_subs.gps_sub, 200); /* 5Hz updates */ /* --- HOME POSITION --- */ mavlink_subs.home_sub = orb_subscribe(ORB_ID(home_position)); |