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UAVCAN: GNSS fix message update

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This commit is contained in:
Pavel Kirienko 2014-09-03 22:44:16 +04:00
parent 2761f98ab6
commit 1d038eed04
2 changed files with 4 additions and 6 deletions
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8
src/modules/uavcan/sensors/gnss.cpp
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@ -43,8 +43,6 @@
#include <systemlib/err.h>
#include <mathlib/mathlib.h>
#define MM_PER_CM 10 // Millimeters per centimeter
const char *const UavcanGnssBridge::NAME = "gnss";
UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) :
@ -95,9 +93,9 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
auto report = ::vehicle_gps_position_s();
report.timestamp_position = hrt_absolute_time();
report.lat = msg.lat_1e7;
report.lon = msg.lon_1e7;
report.alt = msg.alt_1e2 * MM_PER_CM; // Convert from centimeter (1e2) to millimeters (1e3)
report.lat = msg.latitude_deg_1e8 / 10;
report.lon = msg.longitude_deg_1e8 / 10;
report.alt = msg.height_msl_mm;
report.timestamp_variance = report.timestamp_position;

2
uavcan

@ -1 +1 @@
Subproject commit c4c14c60fbbd9acd281ee97d5bb2a4027d0ae2d9
Subproject commit 286adbcc56c4b093143b647ec7546abb149cd53b