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mavlink: OPEN_DRONE_ID_SYSTEM stream publish operator altitude in geodetic frame (#22866)

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Thomas Stauber 2024-03-12 00:49:11 +01:00 committed by GitHub
parent 18d53c3bfd
commit 1ad83a8002
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1 changed files with 2 additions and 1 deletions
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src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp
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@ -86,7 +86,8 @@ private:
msg.area_floor = -1000;
msg.category_eu = MAV_ODID_CATEGORY_EU_UNDECLARED;
msg.class_eu = MAV_ODID_CLASS_EU_UNDECLARED;
msg.operator_altitude_geo = home_position.alt;
float wgs84_amsl_offset = vehicle_gps_position.altitude_ellipsoid_m - vehicle_gps_position.altitude_msl_m;
msg.operator_altitude_geo = home_position.alt + wgs84_amsl_offset;
// timestamp: 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
static uint64_t utc_offset_s = 1'546'300'800; // UTC seconds since 00:00:00 01/01/2019