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AP_Periph: fixed undulation in Fix2 pkt

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This commit is contained in:
Andrew Tridgell 2022-08-27 19:22:54 +10:00
parent 8b0cfe4904
commit c6fae0425b
1 changed files with 4 additions and 0 deletions
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4
Tools/AP_Periph/can.cpp
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@ -1939,6 +1939,10 @@ void AP_Periph_FW::can_gps_update(void)
pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL; pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL;
pkt.height_ellipsoid_mm = loc.alt * 10; pkt.height_ellipsoid_mm = loc.alt * 10;
pkt.height_msl_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++) { for (uint8_t i=0; i<3; i++) {
pkt.ned_velocity[i] = vel[i]; pkt.ned_velocity[i] = vel[i];
} }