SensorGps.msg: switch to double precision for lat/lon/alt

To match https://github.com/PX4/PX4-GPSDrivers/pull/132 - adding high precision RTK lat/lon/alt components

src/examples/fake_gps/FakeGps.cpp

@@ -35,12 +35,12 @@
 
 using namespace time_literals;
 
-FakeGps::FakeGps(double latitude_deg, double longitude_deg, float altitude_m) :
+FakeGps::FakeGps(double latitude_deg, double longitude_deg, double altitude_m) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
-	_latitude(latitude_deg * 10e6),
-	_longitude(longitude_deg * 10e6),
-	_altitude(altitude_m * 10e2f)
+	_latitude(latitude_deg),
+	_longitude(longitude_deg),
+	_altitude(altitude_m)
 {
 }
 
@@ -60,10 +60,10 @@ void FakeGps::Run()
 
 	sensor_gps_s sensor_gps{};
 	sensor_gps.time_utc_usec = hrt_absolute_time() + 1613692609599954;
-	sensor_gps.lat = _latitude;
-	sensor_gps.lon = _longitude;
-	sensor_gps.alt = _altitude;
-	sensor_gps.alt_ellipsoid = _altitude;
+	sensor_gps.latitude_deg = _latitude;
+	sensor_gps.longitude_deg = _longitude;
+	sensor_gps.altitude_msl_m = _altitude;
+	sensor_gps.altitude_ellipsoid_m = _altitude;
 	sensor_gps.s_variance_m_s = 0.3740f;
 	sensor_gps.c_variance_rad = 0.6737f;
 	sensor_gps.eph = 2.1060f;

src/examples/fake_gps/FakeGps.hpp

@@ -45,7 +45,7 @@
 class FakeGps : public ModuleBase<FakeGps>, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
-	FakeGps(double latitude_deg = 29.6603018, double longitude_deg = -82.3160500, float altitude_m = 30.1f);
+	FakeGps(double latitude_deg = 29.6603018, double longitude_deg = -82.3160500, double altitude_m = 30.1);
 
 	~FakeGps() override = default;
 
@@ -67,7 +67,7 @@ private:
 
 	uORB::PublicationMulti<sensor_gps_s> _sensor_gps_pub{ORB_ID(sensor_gps)};
 
-	int32_t _latitude{296603018};   // Latitude in 1e-7 degrees
-	int32_t _longitude{-823160500}; // Longitude in 1e-7 degrees
-	int32_t _altitude{30100};       // Altitude in 1e-3 meters above MSL, (millimetres)
+	double _latitude{29.6603018};   // Latitude in degrees
+	double _longitude{-82.3160500}; // Longitude in degrees
+	double _altitude{30.1};         // Altitude in meters above MSL, (millimetres)
 };

src/examples/fake_magnetometer/FakeMagnetometer.cpp

@@ -66,8 +66,8 @@ void FakeMagnetometer::Run()
 		if (_vehicle_gps_position_sub.copy(&gps)) {
 			if (gps.eph < 1000) {
 
-				const double lat = gps.lat / 1.e7;
-				const double lon = gps.lon / 1.e7;
+				const double lat = gps.latitude_deg;
+				const double lon = gps.longitude_deg;
 
 				// magnetic field data returned by the geo library using the current GPS position
 				const float mag_declination_gps = get_mag_declination_radians(lat, lon);