fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-28 07:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

SensorGps.msg: switch to double precision for lat/lon/alt

Browse Source 
To match https://github.com/PX4/PX4-GPSDrivers/pull/132 - adding high precision RTK lat/lon/alt components
This commit is contained in:
Sergei Grichine
2023-07-13 07:50:09 +02:00
committed by Beat Küng
parent f82785a322
commit f000238987
38 changed files with 169 additions and 166 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/cyphal/Publishers/udral/Gnss.hpp
+3 -3
View File
@@ -66,9 +66,9 @@ public:
size_t payload_size = reg_udral_physics_kinematics_geodetic_Point_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_;
reg_udral_physics_kinematics_geodetic_Point_0_1 geo {};
geo.latitude = gps.lat;
geo.longitude = gps.lon;
geo.altitude = uavcan_si_unit_length_WideScalar_1_0 { .meter = static_cast<double>(gps.alt) };
geo.latitude = (int64_t)(gps.latitude_deg / 1e7);
geo.longitude = (int64_t)(gps.longitude_deg / 1e7);
geo.altitude = uavcan_si_unit_length_WideScalar_1_0 { .meter = gps.altitude_msl_m };
uint8_t geo_payload_buffer[reg_udral_physics_kinematics_geodetic_Point_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];