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

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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
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src/drivers/osd/msp_osd/msp_defines.h
+2 -2
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@@ -386,9 +386,9 @@ struct msp_raw_gps_t {
uint8_t numSat;
int32_t lat; // 1 / 10000000 deg
int32_t lon; // 1 / 10000000 deg
int16_t alt; // meters
int16_t alt; // centimeters since MSP API 1.39, meters before
int16_t groundSpeed; // cm/s
int16_t groundCourse; // unit: degree x 10
int16_t groundCourse; // unit: degree x 100, centidegrees
uint16_t hdop;
} __attribute__((packed));
src/drivers/osd/msp_osd/uorb_to_msp.cpp
+5 -5
View File
@@ -314,9 +314,9 @@ msp_raw_gps_t construct_RAW_GPS(const sensor_gps_s &vehicle_gps_position,
msp_raw_gps_t raw_gps {0};
if (vehicle_gps_position.fix_type >= 2) {
raw_gps.lat = vehicle_gps_position.lat;
raw_gps.lon = vehicle_gps_position.lon;
raw_gps.alt = vehicle_gps_position.alt / 10;
raw_gps.lat = static_cast<int32_t>(vehicle_gps_position.latitude_deg * 1e7);
raw_gps.lon = static_cast<int32_t>(vehicle_gps_position.longitude_deg * 1e7);
raw_gps.alt = static_cast<int16_t>(vehicle_gps_position.altitude_msl_m * 100.0);
float course = math::degrees(vehicle_gps_position.cog_rad);
@@ -432,14 +432,14 @@ msp_altitude_t construct_ALTITUDE(const sensor_gps_s &vehicle_gps_position,
msp_altitude_t altitude {0};
if (vehicle_gps_position.fix_type >= 2) {
altitude.estimatedActualPosition = vehicle_gps_position.alt / 10;
altitude.estimatedActualPosition = static_cast<int32_t>(vehicle_gps_position.altitude_msl_m * 100.0); // cm
} else {
altitude.estimatedActualPosition = 0;
}
if (estimator_status.solution_status_flags & (1 << 5)) {
altitude.estimatedActualVelocity = -vehicle_local_position.vz * 10; //m/s to cm/s
altitude.estimatedActualVelocity = -vehicle_local_position.vz * 100; //m/s to cm/s
} else {
altitude.estimatedActualVelocity = 0;