Get vertical error position and speed estimates from the u-blox driver.

That is, rather than having to interpolate them. This required two
regression-test rebuilds in obvious places.

1 files changed, 28 insertions, 3 deletions

diff --git a/driver_ubx.c b/driver_ubx.c
index 9b8b5d69..7b4ee1ea 100644
--- a/driver_ubx.c
+++ b/driver_ubx.c
@@ -105,10 +105,22 @@ ubx_msg_nav_sol(struct gps_device_t *session, unsigned char *buf,
     ecef_to_wgs84fix(&session->newdata, &session->gpsdata.separation,
 		     epx, epy, epz, evx, evy, evz);
     mask |= LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET | CLIMB_SET;
-    session->newdata.epx = session->newdata.epy =
-	(double)(getles32(buf, 24) / 100.0) / sqrt(2);
+
+    if (session->driver.ubx.last_herr > 0.0) {
+	session->newdata.epx = session->newdata.epy = session->driver.ubx.last_herr;
+	mask |= HERR_SET;
+	session->driver.ubx.last_herr = 0.0;
+    }
+
+    if (session->driver.ubx.last_verr > 0.0) {
+	session->newdata.epv = session->driver.ubx.last_verr;
+	mask |= VERR_SET;
+	session->driver.ubx.last_verr = 0.0;
+    }
+
     session->newdata.eps = (double)(getles32(buf, 40) / 100.0);
-    mask |= HERR_SET | SPEEDERR_SET;
+    mask |= SPEEDERR_SET;
+    
     /* Better to have a single point of truth about DOPs */
     //session->gpsdata.dop.pdop = (double)(getleu16(buf, 44)/100.0);
     session->gpsdata.satellites_used = (int)getub(buf, 47);
@@ -149,6 +161,18 @@ ubx_msg_nav_sol(struct gps_device_t *session, unsigned char *buf,
     return mask;
 }
 
+ /**
+ * Geodetic position solution message
+ */
+static gps_mask_t
+ubx_msg_nav_posllh(struct gps_device_t *session, unsigned char *buf,
+		   size_t data_len)
+{
+    session->driver.ubx.last_herr = (double)(getleu32(buf, 20) / 1000.0);
+    session->driver.ubx.last_verr = (double)(getleu32(buf, 24) / 1000.0);
+    return 0;
+}
+
 /**
  * Dilution of precision message
  */
@@ -362,6 +386,7 @@ gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf,
 	break;
     case UBX_NAV_POSLLH:
 	gpsd_report(session->context->debug, LOG_DATA, "UBX_NAV_POSLLH\n");
+	mask = ubx_msg_nav_posllh(session, &buf[UBX_PREFIX_LEN], data_len);
 	break;
     case UBX_NAV_STATUS:
 	gpsd_report(session->context->debug, LOG_DATA, "UBX_NAV_STATUS\n");