altos/chaoskey-v1.0: Add endpoint for reading flash contents

[fw/altos] / src / drivers / ao_gps_ublox.c

diff --git a/src/drivers/ao_gps_ublox.c b/src/drivers/ao_gps_ublox.c
index 487659984bb2a7ca0d57a4044c9661892a88d039..c720f802acd2e9a73476d6a95dce6dca0bf0dde9 100644 (file)
--- a/src/drivers/ao_gps_ublox.c
+++ b/src/drivers/ao_gps_ublox.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -155,7 +156,7 @@ static char __xdata *ublox_target;
 
 static void ublox_u16(uint8_t offset)
 {
-       uint16_t __xdata *ptr = (uint16_t __xdata *) (ublox_target + offset);
+       uint16_t __xdata *ptr = (uint16_t __xdata *) (void __xdata *) (ublox_target + offset);
        uint16_t val;
 
        val = data_byte();
@@ -174,7 +175,7 @@ static void ublox_u8(uint8_t offset)
 
 static void ublox_u32(uint8_t offset) __reentrant
 {
-       uint32_t __xdata *ptr = (uint32_t __xdata *) (ublox_target + offset);
+       uint32_t __xdata *ptr = (uint32_t __xdata *) (void __xdata *) (ublox_target + offset);
        uint32_t val;
 
        val = ((uint32_t) data_byte ());
@@ -740,11 +741,11 @@ 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;