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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/frsky_telemetry/sPort_data.cpp
+5 -5
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@@ -233,11 +233,11 @@ void sPort_send_GPS_LON(int uart)
/* send longitude */
/* convert to 30 bit signed magnitude degrees*6E5 with MSb = 1 and bit 30=sign */
/* precision is approximately 0.1m */
uint32_t iLon = 6E-2 * fabs(s_port_subscription_data->vehicle_gps_position_sub.get().lon);
uint32_t iLon = 6E-2 * fabs(s_port_subscription_data->vehicle_gps_position_sub.get().longitude_deg * 1e7);
iLon |= (1 << 31);
if (s_port_subscription_data->vehicle_gps_position_sub.get().lon < 0) { iLon |= (1 << 30); }
if (s_port_subscription_data->vehicle_gps_position_sub.get().longitude_deg < 0) { iLon |= (1 << 30); }
sPort_send_data(uart, SMARTPORT_ID_GPS_LON_LAT, iLon);
}
@@ -246,9 +246,9 @@ void sPort_send_GPS_LAT(int uart)
{
/* send latitude */
/* convert to 30 bit signed magnitude degrees*6E5 with MSb = 0 and bit 30=sign */
uint32_t iLat = 6E-2 * fabs(s_port_subscription_data->vehicle_gps_position_sub.get().lat);
uint32_t iLat = 6E-2 * fabs(s_port_subscription_data->vehicle_gps_position_sub.get().latitude_deg * 1e7);
if (s_port_subscription_data->vehicle_gps_position_sub.get().lat < 0) { iLat |= (1 << 30); }
if (s_port_subscription_data->vehicle_gps_position_sub.get().latitude_deg < 0) { iLat |= (1 << 30); }
sPort_send_data(uart, SMARTPORT_ID_GPS_LON_LAT, iLat);
}
@@ -256,7 +256,7 @@ void sPort_send_GPS_LAT(int uart)
void sPort_send_GPS_ALT(int uart)
{
/* send altitude */
uint32_t iAlt = s_port_subscription_data->vehicle_gps_position_sub.get().alt / 10;
uint32_t iAlt = static_cast<uint32_t>(s_port_subscription_data->vehicle_gps_position_sub.get().altitude_msl_m * 1e2);
sPort_send_data(uart, SMARTPORT_ID_GPS_ALT, iAlt);
}