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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/mavlink/mavlink_receiver.cpp
+4 -4
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@@ -2351,10 +2351,10 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
gps.device_id = device_id.devid;
gps.lat = hil_gps.lat;
gps.lon = hil_gps.lon;
gps.alt = hil_gps.alt;
gps.alt_ellipsoid = hil_gps.alt;
gps.latitude_deg = hil_gps.lat * 1e-7;
gps.longitude_deg = hil_gps.lon * 1e-7;
gps.altitude_msl_m = hil_gps.alt * 1e-3;
gps.altitude_ellipsoid_m = hil_gps.alt * 1e-3;
gps.s_variance_m_s = 0.25f;
gps.c_variance_rad = 0.5f;
src/modules/mavlink/streams/GPS2_RAW.hpp
+3 -3
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@@ -71,9 +71,9 @@ private:
msg.time_usec = gps.timestamp;
msg.fix_type = gps.fix_type;
msg.lat = gps.lat;
msg.lon = gps.lon;
msg.alt = gps.alt;
msg.lat = static_cast<int32_t>(round(gps.latitude_deg * 1e7));
msg.lon = static_cast<int32_t>(round(gps.longitude_deg * 1e7));
msg.alt = static_cast<int32_t>(round(gps.altitude_msl_m * 1e3)); // convert [m] to [mm]
msg.eph = gps.hdop * 100; // GPS HDOP horizontal dilution of position (unitless)
msg.epv = gps.vdop * 100; // GPS VDOP vertical dilution of position (unitless)
src/modules/mavlink/streams/GPS_RAW_INT.hpp
+4 -4
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@@ -70,9 +70,9 @@ private:
if (_sensor_gps_sub.update(&gps)) {
msg.time_usec = gps.timestamp;
msg.fix_type = gps.fix_type;
msg.lat = gps.lat;
msg.lon = gps.lon;
msg.alt = gps.alt;
msg.lat = static_cast<int32_t>(round(gps.latitude_deg * 1e7));
msg.lon = static_cast<int32_t>(round(gps.longitude_deg * 1e7));
msg.alt = static_cast<int32_t>(round(gps.altitude_msl_m * 1e3)); // convert [m] to [mm]
msg.eph = gps.hdop * 100; // GPS HDOP horizontal dilution of position (unitless)
msg.epv = gps.vdop * 100; // GPS VDOP vertical dilution of position (unitless)
@@ -85,7 +85,7 @@ private:
msg.cog = math::degrees(matrix::wrap_2pi(gps.cog_rad)) * 1e2f;
msg.satellites_visible = gps.satellites_used;
msg.alt_ellipsoid = gps.alt_ellipsoid;
msg.alt_ellipsoid = static_cast<int32_t>(round(gps.altitude_ellipsoid_m * 1e3)); // convert [m] to [mm]
msg.h_acc = gps.eph * 1e3f; // position uncertainty in mm
msg.v_acc = gps.epv * 1e3f; // altitude uncertainty in mm
msg.vel_acc = gps.s_variance_m_s * 1e3f; // speed uncertainty in mm
src/modules/mavlink/streams/OPEN_DRONE_ID_LOCATION.hpp
+3 -3
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@@ -165,12 +165,12 @@ private:
}
if (vehicle_gps_position.fix_type >= 2) {
msg.latitude = vehicle_gps_position.lat;
msg.longitude = vehicle_gps_position.lon;
msg.latitude = static_cast<int32_t>(round(vehicle_gps_position.latitude_deg * 1e7));
msg.longitude = static_cast<int32_t>(round(vehicle_gps_position.longitude_deg * 1e7));
// altitude_geodetic
if (vehicle_gps_position.fix_type >= 3) {
msg.altitude_geodetic = vehicle_gps_position.alt * 1e-3f;
msg.altitude_geodetic = static_cast<float>(round(vehicle_gps_position.altitude_msl_m)); // [m]
}
// horizontal_accuracy
src/modules/mavlink/streams/UAVIONIX_ADSB_OUT_DYNAMIC.hpp
+3 -3
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@@ -86,9 +86,9 @@ private:
// Required update for dynamic message is 5 [Hz]
mavlink_uavionix_adsb_out_dynamic_t dynamic_msg = {
.utcTime = static_cast<uint32_t>(vehicle_gps_position.time_utc_usec / 1000000ULL),
.gpsLat = vehicle_gps_position.lat,
.gpsLon = vehicle_gps_position.lon,
.gpsAlt = vehicle_gps_position.alt_ellipsoid,
.gpsLat = static_cast<int32_t>(round(vehicle_gps_position.latitude_deg * 1e7)),
.gpsLon = static_cast<int32_t>(round(vehicle_gps_position.longitude_deg * 1e7)),
.gpsAlt = static_cast<int32_t>(round(vehicle_gps_position.altitude_ellipsoid_m * 1e3)), // convert [m] to [mm]
.baroAltMSL = static_cast<int32_t>(vehicle_air_data.baro_pressure_pa / 100.0f), // convert [Pa] to [mBar]
.accuracyHor = static_cast<uint32_t>(vehicle_gps_position.eph * 1000.0f), // convert [m] to [mm]
.accuracyVert = static_cast<uint16_t>(vehicle_gps_position.epv * 100.0f), // convert [m] to [cm]