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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/mavlink/mavlink_receiver.cpp
+3 -3
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@@ -638,9 +638,9 @@ handle_message(mavlink_message_t *msg)
hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon;
hil_global_pos.alt = hil_state.alt / 1000.0f;
hil_global_pos.vx = hil_state.vx / 100.0f;
hil_global_pos.vy = hil_state.vy / 100.0f;
hil_global_pos.vz = hil_state.vz / 100.0f;
hil_global_pos.vel_n = hil_state.vx / 100.0f;
hil_global_pos.vel_e = hil_state.vy / 100.0f;
hil_global_pos.vel_d = hil_state.vz / 100.0f;
} else {
pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);