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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/local_position_estimator/sensors/gps.cpp
+3 -3
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@@ -92,9 +92,9 @@ int BlockLocalPositionEstimator::gpsMeasure(Vector<double, n_y_gps> &y)
{
// gps measurement
y.setZero();
y(0) = _sub_gps.get().lat * 1e-7;
y(1) = _sub_gps.get().lon * 1e-7;
y(2) = _sub_gps.get().alt * 1e-3;
y(0) = _sub_gps.get().latitude_deg;
y(1) = _sub_gps.get().longitude_deg;
y(2) = _sub_gps.get().altitude_msl_m;
y(3) = (double)_sub_gps.get().vel_n_m_s;
y(4) = (double)_sub_gps.get().vel_e_m_s;
y(5) = (double)_sub_gps.get().vel_d_m_s;