X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_ublox.c;h=74c29e0a0e74e20af16436e66ffd2de3ab4d12b5;hb=4828be0ca5252ac9cd6061209385dcd6c4c57965;hp=8676a670fd86a092bdaf5fcdd8d7b8220ab92ac3;hpb=8124af8c27b2b9e446aa3a4f1da83d4db7c1ea87;p=fw%2Faltos

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 8676a670..74c29e0a 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -600,6 +600,14 @@ static const uint8_t ublox_enable_nav[] = {
 	UBLOX_NAV_TIMEUTC
 };
 
+void
+ao_gps_set_rate(uint8_t rate)
+{
+	uint8_t	i;
+	for (i = 0; i < sizeof (ublox_enable_nav); i++)
+		ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], rate);
+}
+
 void
 ao_gps(void) __reentrant
 {
@@ -616,8 +624,7 @@ ao_gps(void) __reentrant
 		ao_ublox_set_message_rate(UBLOX_NAV, ublox_disable_nav[i], 0);
 
 	/* Enable all of the messages we want */
-	for (i = 0; i < sizeof (ublox_enable_nav); i++)
-		ao_ublox_set_message_rate(UBLOX_NAV, ublox_enable_nav[i], 1);
+	ao_gps_set_rate(1);
 
 	ao_ublox_set_navigation_settings((1 << UBLOX_CFG_NAV5_MASK_DYN) | (1 << UBLOX_CFG_NAV5_MASK_FIXMODE),
 					 UBLOX_CFG_NAV5_DYNMODEL_AIRBORNE_4G,
@@ -721,7 +728,7 @@ ao_gps(void) __reentrant
 				if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC))
 					ao_gps_data.flags |= AO_GPS_DATE_VALID;
 
-				ao_gps_data.altitude = nav_posllh.alt_msl / 1000;
+				AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_data, nav_posllh.alt_msl / 1000);
 				ao_gps_data.latitude = nav_posllh.lat;
 				ao_gps_data.longitude = nav_posllh.lon;
 
@@ -733,11 +740,11 @@ ao_gps(void) __reentrant
 				ao_gps_data.minute = nav_timeutc.min;
 				ao_gps_data.second = nav_timeutc.sec;
 
-				ao_gps_data.pdop = nav_dop.pdop;
-				ao_gps_data.hdop = nav_dop.hdop;
-				ao_gps_data.vdop = nav_dop.vdop;
-
-				/* mode is not set */
+				/* we report dop scaled by 10, but ublox provides dop scaled by 100
+				 */
+				ao_gps_data.pdop = nav_dop.pdop / 10;
+				ao_gps_data.hdop = nav_dop.hdop / 10;
+				ao_gps_data.vdop = nav_dop.vdop / 10;
 
 				ao_gps_data.ground_speed = nav_velned.g_speed;
 				ao_gps_data.climb_rate = -nav_velned.vel_d;