Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Periph: pass correct WGS84 height on GPS peripherals

This commit is contained in:
Andrew Tridgell 2022-08-09 15:25:40 +10:00
parent cdf8cad801
commit cc2589777f
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
Tools/AP_Periph/can.cpp
View File

@ -1859,8 +1859,12 @@ void AP_Periph_FW::can_gps_update(void)
}
pkt.longitude_deg_1e8 = uint64_t(loc.lng) * 10ULL;
pkt.latitude_deg_1e8 = uint64_t(loc.lat) * 10ULL;
pkt.height_ellipsoid_mm = loc.alt * 10;
pkt.height_msl_mm = loc.alt * 10;
pkt.height_ellipsoid_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++) {
// the canard dsdl compiler doesn't understand float16
pkt.ned_velocity[i] = vel[i];