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Use double for lat/lon in vehicle_global_position topic, use filed names lat, lon, alt, vel_n, vel_e, vel_d for global positions

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This commit is contained in:
Anton Babushkin
2014-01-24 00:06:10 +01:00
parent b3d98e4a19
commit 58792c5ca6
16 changed files with 76 additions and 87 deletions
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src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+3 -4
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@@ -318,10 +318,9 @@ void KalmanNav::updatePublications()
_pos.lat = getLatDegE7();
_pos.lon = getLonDegE7();
_pos.alt = float(alt);
_pos.relative_alt = float(alt); // TODO, make relative
_pos.vx = vN;
_pos.vy = vE;
_pos.vz = vD;
_pos.vel_n = vN;
_pos.vel_e = vE;
_pos.vel_d = vD;
_pos.yaw = psi;
// local position publication