diff options
Diffstat (limited to 'src/drivers/gps/mtk.cpp')
| -rw-r--r-- | src/drivers/gps/mtk.cpp | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index c112f65a8..371f17c1a 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -259,7 +259,7 @@ MTK::handle_message(gps_mtk_packet_t &packet) _gps_position->fix_type = packet.fix_type; _gps_position->eph = packet.hdop / 100.0f; // from cm to m _gps_position->epv = _gps_position->eph; // unknown in mtk custom mode, so we cheat with eph - _gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s + _gps_position->vel_m_s = ((float)packet.ground_speed) / 100.0f; // from cm/s to m/s _gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad _gps_position->satellites_used = packet.satellites; @@ -267,17 +267,17 @@ MTK::handle_message(gps_mtk_packet_t &packet) struct tm timeinfo; uint32_t timeinfo_conversion_temp; - timeinfo.tm_mday = packet.date * 1e-4; - timeinfo_conversion_temp = packet.date - timeinfo.tm_mday * 1e4; - timeinfo.tm_mon = timeinfo_conversion_temp * 1e-2 - 1; - timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 1e2) + 100; - - timeinfo.tm_hour = packet.utc_time * 1e-7; - timeinfo_conversion_temp = packet.utc_time - timeinfo.tm_hour * 1e7; - timeinfo.tm_min = timeinfo_conversion_temp * 1e-5; - timeinfo_conversion_temp -= timeinfo.tm_min * 1e5; - timeinfo.tm_sec = timeinfo_conversion_temp * 1e-3; - timeinfo_conversion_temp -= timeinfo.tm_sec * 1e3; + timeinfo.tm_mday = packet.date / 10000; + timeinfo_conversion_temp = packet.date - timeinfo.tm_mday * 10000; + timeinfo.tm_mon = (timeinfo_conversion_temp / 100) - 1; + timeinfo.tm_year = (timeinfo_conversion_temp - (timeinfo.tm_mon + 1) * 100) + 100; + + timeinfo.tm_hour = (packet.utc_time / 10000000); + timeinfo_conversion_temp = packet.utc_time - timeinfo.tm_hour * 10000000; + timeinfo.tm_min = timeinfo_conversion_temp / 100000; + timeinfo_conversion_temp -= timeinfo.tm_min * 100000; + timeinfo.tm_sec = timeinfo_conversion_temp / 1000; + timeinfo_conversion_temp -= timeinfo.tm_sec * 1000; time_t epoch = mktime(&timeinfo); if (epoch > GPS_EPOCH_SECS) { |