vehicle_local_position: use double for ref_lat and ref_lon instead of int32, fix related apps

6 files changed, 12 insertions, 12 deletions

diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
index a4d5560c7..03e6021dc 100644
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
@@ -341,8 +341,8 @@ void KalmanNav::updatePublications()
 	_localPos.xy_global = true;
 	_localPos.z_global = true;
 	_localPos.ref_timestamp = _pubTimeStamp;
-	_localPos.ref_lat = getLatDegE7();
-	_localPos.ref_lon = getLonDegE7();
+	_localPos.ref_lat = lat * M_RAD_TO_DEG;
+	_localPos.ref_lon = lon * M_RAD_TO_DEG;
 	_localPos.ref_alt = 0;
 	_localPos.landed = landed;
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 624740237..d297be10a 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -670,8 +670,8 @@ handle_message(mavlink_message_t *msg)
 				hil_local_pos.xy_global = true;
 				hil_local_pos.z_global = true;
 				hil_local_pos.ref_timestamp = timestamp;
-				hil_local_pos.ref_lat = hil_state.lat;
-				hil_local_pos.ref_lon = hil_state.lon;
+				hil_local_pos.ref_lat = hil_state.lat / 1e7d;
+				hil_local_pos.ref_lon = hil_state.lon / 1e7d;
 				hil_local_pos.ref_alt = alt0;
 				hil_local_pos.landed = landed;
 				orb_publish(ORB_ID(vehicle_local_position), pub_hil_local_pos, &hil_local_pos);
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index 3d05b37d8..138b9e46e 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -576,13 +576,13 @@ MulticopterPositionControl::task_main()
 
 		was_armed = _control_mode.flag_armed;
 
+		update_ref();
+
 		if (_control_mode.flag_control_altitude_enabled ||
 		    _control_mode.flag_control_position_enabled ||
 		    _control_mode.flag_control_climb_rate_enabled ||
 		    _control_mode.flag_control_velocity_enabled) {
 
-			update_ref();
-
 			_pos(0) = _local_pos.x;
 			_pos(1) = _local_pos.y;
 			_pos(2) = _local_pos.z;
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index f3b9b9d85..7be5ae979 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -556,8 +556,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 							double lon = gps.lon * 1e-7;
 							float alt = gps.alt * 1e-3;
 
-							local_pos.ref_lat = gps.lat;
-							local_pos.ref_lon = gps.lon;
+							local_pos.ref_lat = lat;
+							local_pos.ref_lon = lon;
 							local_pos.ref_alt = alt + z_est[0];
 							local_pos.ref_timestamp = t;
 
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 2514bafee..24eed228b 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1085,8 +1085,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.body.log_LPOS.vx = buf.local_pos.vx;
 			log_msg.body.log_LPOS.vy = buf.local_pos.vy;
 			log_msg.body.log_LPOS.vz = buf.local_pos.vz;
-			log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat;
-			log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon;
+			log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7;
+			log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7;
 			log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt;
 			log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0);
 			log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0);
diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h
index d567f2e02..aeaf1e244 100644
--- a/src/modules/uORB/topics/vehicle_local_position.h
+++ b/src/modules/uORB/topics/vehicle_local_position.h
@@ -73,8 +73,8 @@ struct vehicle_local_position_s
 	bool xy_global;			/**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
 	bool z_global;			/**< true if z is valid and has valid global reference (ref_alt) */
 	uint64_t ref_timestamp;	/**< Time when reference position was set */
-	int32_t ref_lat;		/**< Reference point latitude in 1E7 degrees */
-	int32_t ref_lon;		/**< Reference point longitude in 1E7 degrees */
+	double ref_lat;		/**< Reference point latitude in degrees */
+	double ref_lon;		/**< Reference point longitude in degrees */
 	float ref_alt;			/**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */
 	bool landed;			/**< true if vehicle is landed */
 	/* Distance to surface */