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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/transponder/sagetech_mxs/SagetechMXS.cpp
+10 -8
View File
@@ -455,7 +455,7 @@ void SagetechMXS::determine_furthest_aircraft()
continue;
}
const float distance = get_distance_to_next_waypoint(_gps.lat * GPS_SCALE, _gps.lon * GPS_SCALE,
const float distance = get_distance_to_next_waypoint(_gps.latitude_deg, _gps.longitude_deg,
vehicle_list[index].lat,
vehicle_list[index].lon);
@@ -492,8 +492,8 @@ void SagetechMXS::handle_vehicle(const transponder_report_s &vehicle)
// needs to handle updating the vehicle list, keeping track of which vehicles to drop
// and which to keep, allocating new vehicles, and publishing to the transponder_report topic
uint16_t index = list_size_allocated + 1; // Make invalid to start with.
const bool my_loc_is_zero = (_gps.lat == 0) && (_gps.lon == 0);
const float my_loc_distance_to_vehicle = get_distance_to_next_waypoint(_gps.lat * GPS_SCALE, _gps.lon * GPS_SCALE,
const bool my_loc_is_zero = (fabs(_gps.latitude_deg) < DBL_EPSILON) && (fabs(_gps.longitude_deg) < DBL_EPSILON);
const float my_loc_distance_to_vehicle = get_distance_to_next_waypoint(_gps.latitude_deg, _gps.longitude_deg,
vehicle.lat, vehicle.lon);
const bool is_tracked_in_list = find_index(vehicle, &index);
// const bool is_special = is_special_vehicle(vehicle.icao_address);
@@ -745,7 +745,8 @@ void SagetechMXS::send_operating_msg()
mxs_state.op.altRes25 =
!mxs_state.inst.altRes100; // Host Altitude Resolution from install
mxs_state.op.altitude = _gps.alt * SAGETECH_SCALE_MM_TO_FT; // Height above sealevel in feet
mxs_state.op.altitude = static_cast<int32_t>(_gps.altitude_msl_m *
SAGETECH_SCALE_M_TO_FT); // Height above sealevel in feet
mxs_state.op.identOn = _adsb_ident.get();
@@ -806,8 +807,8 @@ void SagetechMXS::send_gps_msg()
}
// Get Vehicle Longitude and Latitude and Convert to string
const int32_t longitude = _gps.lon;
const int32_t latitude = _gps.lat;
const int32_t longitude = static_cast<int32_t>(_gps.longitude_deg * 1e7);
const int32_t latitude = static_cast<int32_t>(_gps.latitude_deg * 1e7);
const double lon_deg = longitude * 1.0E-7 * (longitude < 0 ? -1 : 1);
const double lon_minutes = (lon_deg - int(lon_deg)) * 60;
snprintf((char *)&gps.longitude, 12, "%03u%02u.%05u", (unsigned)lon_deg, (unsigned)lon_minutes,
@@ -836,7 +837,7 @@ void SagetechMXS::send_gps_msg()
snprintf((char *)&gps.timeOfFix, 11, "%02u%02u%06.3f", tm->tm_hour, tm->tm_min,
tm->tm_sec + (_gps.time_utc_usec % 1000000) * 1.0e-6);
gps.height = _gps.alt_ellipsoid * 1E-3;
gps.height = (float)_gps.altitude_ellipsoid_m;
// checkGPSInputs(&gps);
last.msg.type = SG_MSG_TYPE_HOST_GPS;
@@ -1284,7 +1285,8 @@ void SagetechMXS::auto_config_operating()
mxs_state.op.altHostAvlbl = false;
mxs_state.op.altRes25 = true; // Host Altitude Resolution from install
mxs_state.op.altitude = _gps.alt * SAGETECH_SCALE_MM_TO_FT; // Height above sealevel in feet
mxs_state.op.altitude = static_cast<int32_t>(_gps.altitude_msl_m *
SAGETECH_SCALE_M_TO_FT); // Height above sealevel in feet
mxs_state.op.identOn = false;
src/drivers/transponder/sagetech_mxs/SagetechMXS.hpp
+1 -2
View File
@@ -142,7 +142,7 @@ private:
static constexpr float SAGETECH_SCALE_KNOTS_TO_M_PER_SEC{0.514444F};
static constexpr float SAGETECH_SCALE_M_PER_SEC_TO_KNOTS{1.94384F};
static constexpr float SAGETECH_SCALE_FT_PER_MIN_TO_M_PER_SEC{0.00508F};
static constexpr float SAGETECH_SCALE_MM_TO_FT{0.00328084F};
static constexpr double SAGETECH_SCALE_M_TO_FT{3.28084};
static constexpr float SAGETECH_SCALE_M_PER_SEC_TO_FT_PER_MIN{196.85F};
static constexpr uint8_t ADSB_ALTITUDE_TYPE_PRESSURE_QNH{0};
static constexpr uint8_t ADSB_ALTITUDE_TYPE_GEOMETRIC{1};
@@ -156,7 +156,6 @@ private:
static constexpr uint16_t INVALID_SQUAWK{7777};
static constexpr unsigned BAUD_460800{0010004}; // B460800 not defined in MacOS termios
static constexpr unsigned BAUD_921600{0010007}; // B921600 not defined in MacOS termios
static constexpr double GPS_SCALE{1.0E-7};
// Stored variables
uint64_t _loop_count;