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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
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6
Tools/AP_Periph/can.cpp
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@ -1859,8 +1859,12 @@ void AP_Periph_FW::can_gps_update(void)
} }
pkt.longitude_deg_1e8 = uint64_t(loc.lng) * 10ULL; pkt.longitude_deg_1e8 = uint64_t(loc.lng) * 10ULL;
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_msl_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++) { for (uint8_t i=0; i<3; i++) {
// the canard dsdl compiler doesn't understand float16 // the canard dsdl compiler doesn't understand float16
pkt.ned_velocity[i] = vel[i]; pkt.ned_velocity[i] = vel[i];