From 1b8e72be1b9614bff4e1bdf81ad7f3265754e062 Mon Sep 17 00:00:00 2001 From: Kynos Date: Sun, 15 Jun 2014 17:26:14 +0200 Subject: Merge sAcc & pAcc scaling fix from branch inav_gps_delay --- src/drivers/gps/ubx.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/drivers/gps') diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 1783ae0f7..56e7a8bd7 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -643,8 +643,8 @@ UBX::payload_rx_done(void) UBX_TRACE_RXMSG("Rx NAV-SOL\n"); _gps_position->fix_type = _buf.payload_rx_nav_sol.gpsFix; - _gps_position->s_variance_m_s = _buf.payload_rx_nav_sol.sAcc; - _gps_position->p_variance_m = _buf.payload_rx_nav_sol.pAcc; + _gps_position->s_variance_m_s = (float)_buf.payload_rx_nav_sol.sAcc * 1e-2f; // from cm to m + _gps_position->p_variance_m = (float)_buf.payload_rx_nav_sol.pAcc * 1e-2f; // from cm to m _gps_position->satellites_used = _buf.payload_rx_nav_sol.numSV; _gps_position->timestamp_variance = hrt_absolute_time(); -- cgit v1.2.3