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drivers/ins/vectornav: add missing sensor_gps velocity magnitude

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Daniel Agar
2024-05-01 14:31:10 -04:00
parent e79993a316
commit 33234f4dc0
1 changed files with 2 additions and 1 deletions
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src/drivers/ins/vectornav/VectorNav.cpp
+2 -1
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@@ -441,10 +441,11 @@ void VectorNav::sensorCallback(VnUartPacket *packet)
sensor_gps.altitude_msl_m = positionGpsLla.c[2];
sensor_gps.altitude_ellipsoid_m = sensor_gps.altitude_msl_m;
sensor_gps.vel_ned_valid = true;
sensor_gps.vel_m_s = matrix::Vector3f(velocityGpsNed.c).length();
sensor_gps.vel_n_m_s = velocityGpsNed.c[0];
sensor_gps.vel_e_m_s = velocityGpsNed.c[1];
sensor_gps.vel_d_m_s = velocityGpsNed.c[2];
sensor_gps.vel_ned_valid = true;
sensor_gps.hdop = dop.hDOP;
sensor_gps.vdop = dop.vDOP;