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AP_GPS_SBF: change reported altitude from geoid to MSL

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Michael Oborne 2016-10-28 17:21:56 +08:00 committed by Randy Mackay
parent 04c76843fc
commit 5e63abf431
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_GPS/AP_GPS_SBF.cpp
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@ -237,7 +237,7 @@ AP_GPS_SBF::process_message(void)
if (temp.Latitude > -200000) { if (temp.Latitude > -200000) {
state.location.lat = (int32_t)(temp.Latitude * RAD_TO_DEG_DOUBLE * 1e7); state.location.lat = (int32_t)(temp.Latitude * RAD_TO_DEG_DOUBLE * 1e7);
state.location.lng = (int32_t)(temp.Longitude * RAD_TO_DEG_DOUBLE * 1e7); state.location.lng = (int32_t)(temp.Longitude * RAD_TO_DEG_DOUBLE * 1e7);
state.location.alt = (int32_t)((float)temp.Height * 1e2f); state.location.alt = (int32_t)(((float)temp.Height - temp.Undulation) * 1e2f );
} }
if (temp.NrSV != 255) { if (temp.NrSV != 255) {