Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-21 16:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Periph: fixed undulation in Fix2 pkt

Browse Source
This commit is contained in:
Andrew Tridgell 2022-08-27 19:22:54 +10:00
parent 2637f87409
commit a4fa99c96c
1 changed files with 4 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
Tools/AP_Periph/can.cpp
View File

@ -1956,6 +1956,10 @@ void AP_Periph_FW::can_gps_update(void)
pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL;
pkt.height_ellipsoid_mm = loc.alt * 10;
pkt.height_msl_mm = loc.alt * 10;
float undulation;
if (gps.get_undulation(undulation)) {
pkt.height_ellipsoid_mm -= undulation*1000;
}
for (uint8_t i=0; i<3; i++) {
pkt.ned_velocity[i] = vel[i];
}