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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/simulation/sensor_gps_sim/SensorGpsSim.cpp
+5 -5
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@@ -116,7 +116,7 @@ void SensorGpsSim::Run()
double latitude = gpos.lat + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
double longitude = gpos.lon + math::degrees((double)generate_wgn() * 0.2 / CONSTANTS_RADIUS_OF_EARTH);
float altitude = gpos.alt + (generate_wgn() * 0.5f);
double altitude = (double)(gpos.alt + (generate_wgn() * 0.5f));
Vector3f gps_vel = Vector3f{lpos.vx, lpos.vy, lpos.vz} + noiseGauss3f(0.06f, 0.077f, 0.158f);
@@ -153,10 +153,10 @@ void SensorGpsSim::Run()
sensor_gps.timestamp_sample = gpos.timestamp_sample;
sensor_gps.time_utc_usec = 0;
sensor_gps.device_id = device_id.devid;
sensor_gps.lat = roundf(latitude * 1e7); // Latitude in 1E-7 degrees
sensor_gps.lon = roundf(longitude * 1e7); // Longitude in 1E-7 degrees
sensor_gps.alt = roundf(altitude * 1000.f); // Altitude in 1E-3 meters above MSL, (millimetres)
sensor_gps.alt_ellipsoid = sensor_gps.alt;
sensor_gps.latitude_deg = latitude; // Latitude in degrees
sensor_gps.longitude_deg = longitude; // Longitude in degrees
sensor_gps.altitude_msl_m = altitude; // Altitude in meters above MSL
sensor_gps.altitude_ellipsoid_m = altitude;
sensor_gps.noise_per_ms = 0;
sensor_gps.jamming_indicator = 0;
sensor_gps.vel_m_s = sqrtf(gps_vel(0) * gps_vel(0) + gps_vel(1) * gps_vel(1)); // GPS ground speed, (metres/sec)
src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp
+4 -4
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@@ -402,10 +402,10 @@ void SimulatorMavlink::handle_message_hil_gps(const mavlink_message_t *msg)
if (!_gps_blocked) {
sensor_gps_s gps{};
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 / 1e7;
gps.longitude_deg = hil_gps.lon / 1e7;
gps.altitude_msl_m = hil_gps.alt / 1e3;
gps.altitude_ellipsoid_m = hil_gps.alt / 1e3;
gps.s_variance_m_s = 0.25f;
gps.c_variance_rad = 0.5f;