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HDOP / VDOP correctly reporting

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Lorenz Meier
2016-02-25 13:43:39 +01:00
parent fdff16c3cb
commit 755569ac12
1 changed files with 11 additions and 1 deletions
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src/drivers/gps/ubx.cpp
+11 -1
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@@ -548,6 +548,17 @@ UBX::payload_rx_init()
break;
case UBX_MSG_NAV_DOP:
if (_rx_payload_length != sizeof(ubx_payload_rx_nav_dop_t)) {
_rx_state = UBX_RXMSG_ERROR_LENGTH;
} else if (!_configured) {
_rx_state = UBX_RXMSG_IGNORE; // ignore if not _configured
}
break;
case UBX_MSG_NAV_TIMEUTC:
if (_rx_payload_length != sizeof(ubx_payload_rx_nav_timeutc_t)) {
_rx_state = UBX_RXMSG_ERROR_LENGTH;
@@ -909,7 +920,6 @@ UBX::payload_rx_done(void)
_gps_position->vdop = _buf.payload_rx_nav_dop.vDOP * 0.01f; // from cm to m
_gps_position->timestamp_variance = hrt_absolute_time();
warnx("DOOOP!");
ret = 1;
break;