AP_GPS: Add horizontal, vertical and speed accuracy to the GPS_RAW_INT message

libraries/AP_GPS/AP_GPS.cpp

@@ -890,6 +890,12 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
         last_send_time_ms[chan] = now;
     }
     const Location &loc = location(0);
+    float hacc = 0.0f;
+    float vacc = 0.0f;
+    float sacc = 0.0f;
+    horizontal_accuracy(0, hacc);
+    vertical_accuracy(0, vacc);
+    speed_accuracy(0, sacc);
     mavlink_msg_gps_raw_int_send(
         chan,
         last_fix_time_ms(0)*(uint64_t)1000,
@@ -901,7 +907,12 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
         get_vdop(0),
         ground_speed(0)*100,  // cm/s
         ground_course(0)*100, // 1/100 degrees,
-        num_sats(0));
+        num_sats(0),
+        0,                    // TODO: Elipsoid height in mm
+        hacc * 1000,          // one-sigma standard deviation in mm
+        vacc * 1000,          // one-sigma standard deviation in mm
+        sacc * 1000,          // one-sigma standard deviation in mm/s
+        0);                   // TODO one-sigma heading accuracy standard deviation
 }
 
 void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)