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AP_GPS: fixed resolution of KSXT parsing for NMEA

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needs to be double precision for lat/lon
This commit is contained in:
Andrew Tridgell 2022-10-15 11:11:13 +11:00
parent 4812b67ad6
commit 6f805cb537
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_GPS/AP_GPS_NMEA.cpp
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@ -389,7 +389,7 @@ bool AP_GPS_NMEA::_term_complete()
state.ground_speed = state.velocity.xy().length(); state.ground_speed = state.velocity.xy().length();
_last_3D_velocity_ms = now; _last_3D_velocity_ms = now;
} }
if (is_equal(3.0f, _ksxt.fields[10])) { if (is_equal(3.0f, float(_ksxt.fields[10]))) {
// have good yaw (from RTK fixed moving baseline solution) // have good yaw (from RTK fixed moving baseline solution)
_last_yaw_ms = now; _last_yaw_ms = now;
state.gps_yaw = _ksxt.fields[4]; state.gps_yaw = _ksxt.fields[4];

2
libraries/AP_GPS/AP_GPS_NMEA.h
View File

@ -188,7 +188,7 @@ private:
example: $KSXT,20211016083433.00,116.31296102,39.95817066,49.4911,223.57,-11.32,330.19,0.024,,1,3,28,27,,,,-0.012,0.021,0.020,,*2D example: $KSXT,20211016083433.00,116.31296102,39.95817066,49.4911,223.57,-11.32,330.19,0.024,,1,3,28,27,,,,-0.012,0.021,0.020,,*2D
*/ */
struct { struct {
float fields[21]; double fields[21];
} _ksxt; } _ksxt;
}; };