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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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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/commander/commander.cpp
+5 -5
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@@ -1009,12 +1009,12 @@ int commander_thread_main(int argc, char *argv[])
/* copy position data to uORB home message, store it locally as well */
home.lat = (double)global_position.lat / 1e7d;
home.lon = (double)global_position.lon / 1e7d;
home.altitude = (float)global_position.alt;
home.lat = global_position.lat;
home.lon = global_position.lon;
home.alt = global_position.alt;
warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.altitude);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.altitude);
warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.alt);
/* announce new home position */
if (home_pub > 0) {