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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/modules/commander/HomePosition.cpp
+8 -8
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@@ -152,10 +152,10 @@ void HomePosition::fillLocalHomePos(home_position_s &home, float x, float y, flo
void HomePosition::fillGlobalHomePos(home_position_s &home, const vehicle_global_position_s &gpos)
{
fillGlobalHomePos(home, gpos.lat, gpos.lon, gpos.alt);
fillGlobalHomePos(home, gpos.lat, gpos.lon, (double)gpos.alt);
}
void HomePosition::fillGlobalHomePos(home_position_s &home, double lat, double lon, float alt)
void HomePosition::fillGlobalHomePos(home_position_s &home, double lat, double lon, double alt)
{
home.lat = lat;
home.lon = lon;
@@ -189,7 +189,7 @@ void HomePosition::setInAirHomePosition()
ref_pos.reproject(home.x - lpos.x, home.y - lpos.y, home_lat, home_lon);
const float home_alt = gpos.alt + home.z;
fillGlobalHomePos(home, home_lat, home_lon, home_alt);
fillGlobalHomePos(home, home_lat, home_lon, (double)home_alt);
setHomePosValid();
home.timestamp = hrt_absolute_time();
@@ -206,8 +206,8 @@ void HomePosition::setInAirHomePosition()
double home_lon;
ref_pos.reproject(home.x - lpos.x, home.y - lpos.y, home_lat, home_lon);
const float home_alt = _gps_alt + home.z;
fillGlobalHomePos(home, home_lat, home_lon, home_alt);
const double home_alt = _gps_alt + (double)home.z;
fillGlobalHomePos(home, home_lat, home_lon, (double)home_alt);
setHomePosValid();
home.timestamp = hrt_absolute_time();
@@ -304,9 +304,9 @@ void HomePosition::update(bool set_automatically, bool check_if_changed)
sensor_gps_s vehicle_gps_position;
_vehicle_gps_position_sub.copy(&vehicle_gps_position);
_gps_lat = static_cast<double>(vehicle_gps_position.lat) * 1e-7;
_gps_lon = static_cast<double>(vehicle_gps_position.lon) * 1e-7;
_gps_alt = static_cast<float>(vehicle_gps_position.alt) * 1e-3f;
_gps_lat = vehicle_gps_position.latitude_deg;
_gps_lon = vehicle_gps_position.longitude_deg;
_gps_alt = vehicle_gps_position.altitude_msl_m;
_gps_eph = vehicle_gps_position.eph;
_gps_epv = vehicle_gps_position.epv;
src/modules/commander/HomePosition.hpp
+2 -2
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@@ -68,7 +68,7 @@ private:
static void fillLocalHomePos(home_position_s &home, const vehicle_local_position_s &lpos);
static void fillLocalHomePos(home_position_s &home, float x, float y, float z, float heading);
static void fillGlobalHomePos(home_position_s &home, const vehicle_global_position_s &gpos);
static void fillGlobalHomePos(home_position_s &home, double lat, double lon, float alt);
static void fillGlobalHomePos(home_position_s &home, double lat, double lon, double alt);
uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
@@ -83,7 +83,7 @@ private:
bool _gps_position_for_home_valid{false};
double _gps_lat{0};
double _gps_lon{0};
float _gps_alt{0.f};
double _gps_alt{0};
float _gps_eph{0.f};
float _gps_epv{0.f};
};
src/modules/commander/baro_calibration.cpp
+1 -1
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@@ -136,7 +136,7 @@ int do_baro_calibration(orb_advert_t *mavlink_log_pub)
if ((hrt_elapsed_time(&sensor_gps.timestamp) < 1_s)
&& (sensor_gps.fix_type >= 2) && (sensor_gps.epv < 100)) {
float alt = sensor_gps.alt * 0.001f;
float alt = (float)sensor_gps.altitude_msl_m;
if (PX4_ISFINITE(gps_altitude_sum)) {
gps_altitude_sum += alt;
src/modules/commander/mag_calibration.cpp
+4 -4
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@@ -237,8 +237,8 @@ static float get_sphere_radius()
if (gps_sub.copy(&gps)) {
if (hrt_elapsed_time(&gps.timestamp) < 100_s && (gps.fix_type >= 2) && (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
return get_mag_strength_gauss(lat, lon);
@@ -960,8 +960,8 @@ int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radian
if (vehicle_gps_position_sub.copy(&gps)) {
if ((gps.timestamp != 0) && (gps.eph < 1000)) {
latitude = gps.lat / 1.e7f;
longitude = gps.lon / 1.e7f;
latitude = (float)gps.latitude_deg;
longitude = (float)gps.longitude_deg;
mag_earth_available = true;
}
}