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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/rc/crsf_rc/CrsfRc.cpp
+3 -3
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@@ -241,11 +241,11 @@ void CrsfRc::Run()
sensor_gps_s sensor_gps;
if (_vehicle_gps_position_sub.update(&sensor_gps)) {
int32_t latitude = sensor_gps.lat;
int32_t longitude = sensor_gps.lon;
int32_t latitude = static_cast<int32_t>(round(sensor_gps.latitude_deg * 1e7));
int32_t longitude = static_cast<int32_t>(round(sensor_gps.longitude_deg * 1e7));
uint16_t groundspeed = sensor_gps.vel_d_m_s / 3.6f * 10.f;
uint16_t gps_heading = math::degrees(sensor_gps.cog_rad) * 100.f;
uint16_t altitude = sensor_gps.alt + 1000;
uint16_t altitude = static_cast<int16_t>(sensor_gps.altitude_msl_m * 1e3) + 1000;
uint8_t num_satellites = sensor_gps.satellites_used;
this->SendTelemetryGps(latitude, longitude, groundspeed, gps_heading, altitude, num_satellites);
}