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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/hott/messages.cpp
+3 -3
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@@ -242,7 +242,7 @@ build_gps_response(uint8_t *buffer, size_t *size)
msg.gps_speed_H = (uint8_t)(speed >> 8) & 0xff;
/* Get latitude in degrees, minutes and seconds */
double lat = ((double)(gps.lat)) * 1e-7d;
double lat = gps.latitude_deg;
/* Set the N or S specifier */
msg.latitude_ns = 0;
@@ -265,7 +265,7 @@ build_gps_response(uint8_t *buffer, size_t *size)
msg.latitude_sec_H = (uint8_t)(lat_sec >> 8) & 0xff;
/* Get longitude in degrees, minutes and seconds */
double lon = ((double)(gps.lon)) * 1e-7d;
double lon = gps.longitude_deg;
/* Set the E or W specifier */
msg.longitude_ew = 0;
@@ -285,7 +285,7 @@ build_gps_response(uint8_t *buffer, size_t *size)
msg.longitude_sec_H = (uint8_t)(lon_sec >> 8) & 0xff;
/* Altitude */
uint16_t alt = (uint16_t)(gps.alt * 1e-3f + 500.0f);
uint16_t alt = (uint16_t)(round(gps.altitude_msl_m) + 500.0);
msg.altitude_L = (uint8_t)alt & 0xff;
msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;