diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h index ad6e525d82..4effa17146 100644 --- a/libraries/AP_GPS/AP_GPS.h +++ b/libraries/AP_GPS/AP_GPS.h @@ -131,6 +131,7 @@ public: float ground_speed; ///< ground speed in m/sec int32_t ground_course_cd; ///< ground course in 100ths of a degree uint16_t hdop; ///< horizontal dilution of precision in cm + uint16_t vdop; ///< vertical dilution of precision in cm uint8_t num_sats; ///< Number of visible satelites Vector3f velocity; ///< 3D velocitiy in m/s, in NED format float speed_accuracy; diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp index 9415cc1ed6..5b638a7a75 100644 --- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp +++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp @@ -582,8 +582,10 @@ AP_GPS_UBLOX::_parse_gps(void) Debug("MSG_DOP"); noReceivedHdop = false; state.hdop = _buffer.dop.hDOP; + state.vdop = _buffer.dop.vDOP; #if UBLOX_FAKE_3DLOCK state.hdop = 130; + state.hdop = 170; #endif break; case MSG_SOL: