diff options
Diffstat (limited to 'src/modules/uavcan/sensors/gnss.cpp')
| -rw-r--r-- | src/modules/uavcan/sensors/gnss.cpp | 8 |
1 files changed, 3 insertions, 5 deletions
diff --git a/src/modules/uavcan/sensors/gnss.cpp b/src/modules/uavcan/sensors/gnss.cpp index 0d67aad47..24afe6aaf 100644 --- a/src/modules/uavcan/sensors/gnss.cpp +++ b/src/modules/uavcan/sensors/gnss.cpp @@ -43,8 +43,6 @@ #include <systemlib/err.h> #include <mathlib/mathlib.h> -#define MM_PER_CM 10 // Millimeters per centimeter - const char *const UavcanGnssBridge::NAME = "gnss"; UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) : @@ -95,9 +93,9 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca auto report = ::vehicle_gps_position_s(); report.timestamp_position = hrt_absolute_time(); - report.lat = msg.lat_1e7; - report.lon = msg.lon_1e7; - report.alt = msg.alt_1e2 * MM_PER_CM; // Convert from centimeter (1e2) to millimeters (1e3) + report.lat = msg.latitude_deg_1e8 / 10; + report.lon = msg.longitude_deg_1e8 / 10; + report.alt = msg.height_msl_mm; report.timestamp_variance = report.timestamp_position; |