From 479d4be3fd827309a6501d5e9c0f374ee0381346 Mon Sep 17 00:00:00 2001 From: "Dr.-Ing. Amilcar Do Carmo Lucas" Date: Fri, 22 Sep 2017 10:16:12 +0200 Subject: [PATCH] AP_GPS: Add horizontal, vertical and speed accuracy to the GPS_RAW_INT message --- libraries/AP_GPS/AP_GPS.cpp | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp index a0d8c613f4..8d2e5d3d77 100644 --- a/libraries/AP_GPS/AP_GPS.cpp +++ b/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)