X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fdrivers%2Fao_gps_ublox.c;h=74c29e0a0e74e20af16436e66ffd2de3ab4d12b5;hb=93100ae8d4c8bd8fd6bdeff2cdc87b613c5d8058;hp=6c42c1ba70a8c1fdbabc53817f09fe8a87be3ff3;hpb=db6003d34595fbd103d5b131912b6a797254f1c5;p=fw%2Faltos

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 6c42c1ba..74c29e0a 100644
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -728,7 +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;
 
@@ -740,18 +740,16 @@ 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;
 				ao_gps_data.course = nav_velned.heading / 200000;
-#if HAS_FLIGHT || HAS_TRACKER
-				ao_gps_data.state = ao_flight_state;
-#endif
+
 				ao_gps_tracking_data.channels = 0;
 
 				struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];