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AP_GPS: fixed undulation for DroneCAN GPS

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This commit is contained in:
Andrew Tridgell 2022-08-09 15:22:44 +10:00
parent 4219396365
commit 50dc9fc65c
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
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@ -412,6 +412,8 @@ void AP_GPS_UAVCAN::handle_fix_msg(const FixCb &cb)
loc.lat = cb.msg->latitude_deg_1e8 / 10;
loc.lng = cb.msg->longitude_deg_1e8 / 10;
loc.alt = cb.msg->height_msl_mm / 10;
interim_state.have_undulation = true;
interim_state.undulation = (cb.msg->height_msl_mm - cb.msg->height_ellipsoid_mm) * 0.001;
interim_state.location = loc;
if (!uavcan::isNaN(cb.msg->ned_velocity[0])) {
@ -536,6 +538,8 @@ void AP_GPS_UAVCAN::handle_fix2_msg(const Fix2Cb &cb)
loc.lat = cb.msg->latitude_deg_1e8 / 10;
loc.lng = cb.msg->longitude_deg_1e8 / 10;
loc.alt = cb.msg->height_msl_mm / 10;
interim_state.have_undulation = true;
interim_state.undulation = (cb.msg->height_msl_mm - cb.msg->height_ellipsoid_mm) * 0.001;
interim_state.location = loc;
if (!uavcan::isNaN(cb.msg->ned_velocity[0])) {