From 60ade3bf0ca0061a42ace53c8dfcf801599b8146 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Sun, 22 Apr 2012 15:35:02 +0200
Subject: [PATCH] [gps_nmea] read hdop and use it as pdop, better than nothing

---
 sw/airborne/subsystems/gps/gps_nmea.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/sw/airborne/subsystems/gps/gps_nmea.c b/sw/airborne/subsystems/gps/gps_nmea.c
index 88bcf27bec..5e3be7f786 100644
--- a/sw/airborne/subsystems/gps/gps_nmea.c
+++ b/sw/airborne/subsystems/gps/gps_nmea.c
@@ -304,6 +304,10 @@ void parse_nmea_GPGGA(void) {
       return;
     }
   }
+  // we use HDOP here, as the PDOP is not in the message
+  float hdop = strtof(&gps_nmea.msg_buf[i], &endptr);
+  gps.pdop = hdop * 100;
+
   while(gps_nmea.msg_buf[i++] != ',') {              // next field: altitude
     if (i >= gps_nmea.msg_len) {
       NMEA_PRINT("p_GPGGA() - skipping incomplete message\n\r");