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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_input/crsf_telemetry.cpp
+3 -3
View File
@@ -96,11 +96,11 @@ bool CRSFTelemetry::send_gps()
return false;
}
int32_t latitude = vehicle_gps_position.lat;
int32_t longitude = vehicle_gps_position.lon;
int32_t latitude = static_cast<int32_t>(round(vehicle_gps_position.latitude_deg * 1e7));
int32_t longitude = static_cast<int32_t>(round(vehicle_gps_position.longitude_deg * 1e7));
uint16_t groundspeed = vehicle_gps_position.vel_d_m_s / 3.6f * 10.f;
uint16_t gps_heading = math::degrees(vehicle_gps_position.cog_rad) * 100.f;
uint16_t altitude = vehicle_gps_position.alt + 1000;
uint16_t altitude = static_cast<int16_t>(round(vehicle_gps_position.altitude_msl_m + 1.0));
uint8_t num_satellites = vehicle_gps_position.satellites_used;
return crsf_send_telemetry_gps(_uart_fd, latitude, longitude, groundspeed,
src/drivers/rc_input/ghst_telemetry.cpp
+3 -3
View File
@@ -110,9 +110,9 @@ bool GHSTTelemetry::send_gps1_status()
return false;
}
int32_t latitude = vehicle_gps_position.lat; // 1e-7 degrees
int32_t longitude = vehicle_gps_position.lon; // 1e-7 degrees
uint16_t altitude = vehicle_gps_position.alt / 1000; // mm -> m
int32_t latitude = static_cast<int32_t>(round(vehicle_gps_position.latitude_deg * 1e7)); // 1e-7 degrees
int32_t longitude = static_cast<int32_t>(round(vehicle_gps_position.longitude_deg * 1e7)); // 1e-7 degrees
uint16_t altitude = static_cast<int16_t>(round(vehicle_gps_position.altitude_msl_m)); // meters
return ghst_send_telemetry_gps1_status(_uart_fd, latitude, longitude, altitude);
}