From 42fb2d8b4e95b3211f18f416de752111fedce55f Mon Sep 17 00:00:00 2001 From: Open UAS Date: Sat, 15 Aug 2020 16:25:33 +0200 Subject: [PATCH] Fix for gspeed spiking issue #2566 --- sw/airborne/subsystems/gps/gps_ubx.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sw/airborne/subsystems/gps/gps_ubx.c b/sw/airborne/subsystems/gps/gps_ubx.c index e575c4555f..9ed1bd9c1c 100644 --- a/sw/airborne/subsystems/gps/gps_ubx.c +++ b/sw/airborne/subsystems/gps/gps_ubx.c @@ -167,8 +167,8 @@ static void gps_ubx_parse_nav_pvt(void) // Copy HMSL and ground speed gps_ubx.state.hmsl = UBX_NAV_PVT_hMSL(gps_ubx.msg_buf); - gps_ubx.state.gspeed = UBX_NAV_PVT_gSpeed(gps_ubx.msg_buf); SetBit(gps_ubx.state.valid_fields, GPS_VALID_HMSL_BIT); + gps_ubx.state.gspeed = UBX_NAV_PVT_gSpeed(gps_ubx.msg_buf) / 10; // Copy NED velocities gps_ubx.state.ned_vel.x = UBX_NAV_PVT_velN(gps_ubx.msg_buf) / 10;