diff options
Diffstat (limited to 'src/drivers/gps')
| -rw-r--r-- | src/drivers/gps/gps.cpp | 6 | ||||
| -rw-r--r-- | src/drivers/gps/mtk.cpp | 8 | ||||
| -rw-r--r-- | src/drivers/gps/ubx.cpp | 4 |
3 files changed, 9 insertions, 9 deletions
diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 6ae325297..1d8ef1b99 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -302,8 +302,8 @@ GPS::task_main() _report_gps_pos.p_variance_m = 10.0f; _report_gps_pos.c_variance_rad = 0.1f; _report_gps_pos.fix_type = 3; - _report_gps_pos.eph_m = 0.9f; - _report_gps_pos.epv_m = 1.8f; + _report_gps_pos.eph = 0.9f; + _report_gps_pos.epv = 1.8f; _report_gps_pos.timestamp_velocity = hrt_absolute_time(); _report_gps_pos.vel_n_m_s = 0.0f; _report_gps_pos.vel_e_m_s = 0.0f; @@ -487,7 +487,7 @@ GPS::print_info() warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type, _report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp_position) / 1000.0); warnx("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt); - warnx("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph_m, (double)_report_gps_pos.epv_m); + warnx("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv); warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate()); warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate()); warnx("rate publication:\t%6.2f Hz", (double)_rate); diff --git a/src/drivers/gps/mtk.cpp b/src/drivers/gps/mtk.cpp index 7b957e55d..c4f4f7bec 100644 --- a/src/drivers/gps/mtk.cpp +++ b/src/drivers/gps/mtk.cpp @@ -251,16 +251,16 @@ MTK::handle_message(gps_mtk_packet_t &packet) _gps_position->lon = 0; // Indicate this data is not usable and bail out - _gps_position->eph_m = 1000.0f; - _gps_position->epv_m = 1000.0f; + _gps_position->eph = 1000.0f; + _gps_position->epv = 1000.0f; _gps_position->fix_type = 0; return; } _gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm _gps_position->fix_type = packet.fix_type; - _gps_position->eph_m = packet.hdop / 100.0f; // from cm to m - _gps_position->epv_m = _gps_position->eph_m; // unknown in mtk custom mode, so we cheat with eph + _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->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad _gps_position->satellites_used = packet.satellites; diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index adc7130dd..44434a1df 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -681,8 +681,8 @@ UBX::payload_rx_done(void) _gps_position->lat = _buf.payload_rx_nav_posllh.lat; _gps_position->lon = _buf.payload_rx_nav_posllh.lon; _gps_position->alt = _buf.payload_rx_nav_posllh.hMSL; - _gps_position->eph_m = (float)_buf.payload_rx_nav_posllh.hAcc * 1e-3f; // from mm to m - _gps_position->epv_m = (float)_buf.payload_rx_nav_posllh.vAcc * 1e-3f; // from mm to m + _gps_position->eph = (float)_buf.payload_rx_nav_posllh.hAcc * 1e-3f; // from mm to m + _gps_position->epv = (float)_buf.payload_rx_nav_posllh.vAcc * 1e-3f; // from mm to m _gps_position->timestamp_position = hrt_absolute_time(); |