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AP_Devo_Telem: fix gpsDdToDmsFormat method 

This fixes gpsDdToDmsFormat method to correctly convert decimal degrees to degrees minutes with less precision loss
This commit is contained in:
Shiv Tyagi 2021-11-11 21:59:26 +05:30 committed by Peter Barker
parent 8ae1a58eae
commit a747a4a19a
2 changed files with 5 additions and 5 deletions
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8
libraries/AP_Devo_Telem/AP_Devo_Telem.cpp
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@ -48,10 +48,10 @@ void AP_DEVO_Telem::init()
}
uint32_t AP_DEVO_Telem::gpsDdToDmsFormat(float ddm)
uint32_t AP_DEVO_Telem::gpsDdToDmsFormat(int32_t ddm)
{
int32_t deg = (int32_t)ddm;
float mm = (ddm - deg) * 60.0f;
int32_t deg = (int32_t)(ddm * 1e-7);
float mm = (ddm * 1.0e-7 - deg) * 60.0f;
mm = ((float)deg * 100.0f + mm) /100.0f;
@ -105,7 +105,7 @@ void AP_DEVO_Telem::send_frames()
*/
float alt;
_ahrs.get_relative_position_D_home(alt);
devoPacket.alt = alt * -100.0f; // coordinates was in NED, so it needs to change sign. Protocol requires in cm!
devoPacket.alt = alt * -100.0f; // coordinates was in NED, so it needs to change sign. Protocol requires in cm!
}

2
libraries/AP_Devo_Telem/AP_Devo_Telem.h
View File

@ -31,7 +31,7 @@ public:
private:
uint32_t gpsDdToDmsFormat(float ddm);
uint32_t gpsDdToDmsFormat(int32_t ddm);
// tick - main call to send updates to transmitter
void tick(void);