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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/telemetry/bst/bst.cpp
+3 -3
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@@ -268,9 +268,9 @@ void BST::RunImpl()
if (gps.fix_type >= 3 && gps.eph < 50.0f) {
BSTPacket<BSTGPSPosition> bst_gps = {};
bst_gps.type = 0x02;
bst_gps.payload.lat = swap_int32(gps.lat);
bst_gps.payload.lon = swap_int32(gps.lon);
bst_gps.payload.alt = swap_int16(gps.alt / 1000 + 1000);
bst_gps.payload.lat = swap_int32(static_cast<int32_t>(round(gps.latitude_deg * 1e7)));
bst_gps.payload.lon = swap_int32(static_cast<int32_t>(round(gps.longitude_deg * 1e7)));
bst_gps.payload.alt = swap_int16(static_cast<int16_t>(round(gps.altitude_msl_m)) + 1000);
bst_gps.payload.gs = swap_int16(gps.vel_m_s * 360.0f);
bst_gps.payload.heading = swap_int16(gps.cog_rad * 18000.0f / M_PI_F);
bst_gps.payload.sats = gps.satellites_used;