+ gps.ground_speed = ground_speed() * 1.0e-2;
+ gps.course = course() * 2;
+ gps.climb_rate = climb_rate() * 1.0e-2;
+ if (state.compare_version("1.4.9") >= 0) {
+ gps.pdop = pdop() / 10.0;
+ gps.hdop = hdop() / 10.0;
+ gps.vdop = vdop() / 10.0;
+ } else {
+ gps.pdop = pdop() / 100.0;
+ if (gps.pdop < 0.8)
+ gps.pdop += 2.56;
+ gps.hdop = hdop() / 100.0;
+ if (gps.hdop < 0.8)
+ gps.hdop += 2.56;
+ gps.vdop = vdop() / 100.0;
+ if (gps.vdop < 0.8)
+ gps.vdop += 2.56;
+ }