fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 21:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF2.cpp
+4 -4
View File
@@ -2245,9 +2245,9 @@ void EKF2::UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps)
gpsMessage gps_msg{
.time_usec = vehicle_gps_position.timestamp,
.lat = vehicle_gps_position.lat,
.lon = vehicle_gps_position.lon,
.alt = vehicle_gps_position.alt,
.lat = static_cast<int32_t>(round(vehicle_gps_position.latitude_deg * 1e7)),
.lon = static_cast<int32_t>(round(vehicle_gps_position.longitude_deg * 1e7)),
.alt = static_cast<int32_t>(round(vehicle_gps_position.altitude_msl_m * 1e3)),
.yaw = vehicle_gps_position.heading,
.yaw_offset = vehicle_gps_position.heading_offset,
.yaw_accuracy = vehicle_gps_position.heading_accuracy,
@@ -2269,7 +2269,7 @@ void EKF2::UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps)
_ekf.setGpsData(gps_msg);
_gps_time_usec = gps_msg.time_usec;
_gps_alttitude_ellipsoid = vehicle_gps_position.alt_ellipsoid;
_gps_alttitude_ellipsoid = static_cast<int32_t>(round(vehicle_gps_position.altitude_ellipsoid_m * 1e3));
}
}