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HAL_SITL: use GPS accuracy params

c415-sdk
Andrew Tridgell 5 years ago
parent
91b4830801
commit
3f630d3d43
1 changed files with 8 additions and 8 deletions
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  1. 16
      libraries/AP_HAL_SITL/sitl_gps.cpp

16
libraries/AP_HAL_SITL/sitl_gps.cpp
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@ -330,8 +330,8 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d, uint8_t instance) @@ -330,8 +330,8 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d, uint8_t instance)
pos.latitude = d->latitude * 1.0e7;
pos.altitude_ellipsoid = d->altitude * 1000.0f;
pos.altitude_msl = d->altitude * 1000.0f;
pos.horizontal_accuracy = 1500;
pos.vertical_accuracy = 2000;
pos.horizontal_accuracy = _sitl->gps_accuracy[instance]*1000;
pos.vertical_accuracy = _sitl->gps_accuracy[instance]*1000;
status.time = time_week_ms;
status.fix_type = d->have_lock?3:0;
@ -388,8 +388,8 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d, uint8_t instance) @@ -388,8 +388,8 @@ void SITL_State::_update_gps_ubx(const struct gps_data *d, uint8_t instance)
pvt.lat = d->latitude * 1.0e7;
pvt.height = d->altitude * 1000.0f;
pvt.h_msl = d->altitude * 1000.0f;
pvt.h_acc = 200;
pvt.v_acc = 200;
pvt.h_acc = _sitl->gps_accuracy[instance] * 1000;
pvt.v_acc = _sitl->gps_accuracy[instance] * 1000;
pvt.velN = 1000.0f * d->speedN;
pvt.velE = 1000.0f * d->speedE;
pvt.velD = 1000.0f * d->speedD;
@ -838,8 +838,8 @@ void SITL_State::_update_gps_sbp(const struct gps_data *d, uint8_t instance) @@ -838,8 +838,8 @@ void SITL_State::_update_gps_sbp(const struct gps_data *d, uint8_t instance)
pos.lon = d->longitude;
pos.lat= d->latitude;
pos.height = d->altitude;
pos.h_accuracy = 5e3;
pos.v_accuracy = 10e3;
pos.h_accuracy = _sitl->gps_accuracy[instance]*1000;
pos.v_accuracy = _sitl->gps_accuracy[instance]*1000;
pos.n_sats = _sitl->gps_numsats[instance];
// Send single point position solution
@ -955,8 +955,8 @@ void SITL_State::_update_gps_sbp2(const struct gps_data *d, uint8_t instance) @@ -955,8 +955,8 @@ void SITL_State::_update_gps_sbp2(const struct gps_data *d, uint8_t instance)
pos.lon = d->longitude;
pos.lat= d->latitude;
pos.height = d->altitude;
pos.h_accuracy = 5e3;
pos.v_accuracy = 10e3;
pos.h_accuracy = _sitl->gps_accuracy[instance]*1000;
pos.v_accuracy = _sitl->gps_accuracy[instance]*1000;
pos.n_sats = _sitl->gps_numsats[instance];
// Send single point position solution

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