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divide lat/lon received from HIL_STATE_QUATERNION msg by 1E7

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Mohamed Abdelkader Zahana
2017-04-13 09:27:21 +03:00
committed by Beat Küng
parent 2f6249af2f
commit a9ec1a35bc
1 changed files with 3 additions and 3 deletions
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src/modules/simulator/simulator_mavlink.cpp
+3 -3
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@@ -404,9 +404,9 @@ void Simulator::handle_message(mavlink_message_t *msg, bool publish)
hil_gpos.timestamp = timestamp;
hil_gpos.time_utc_usec = timestamp;
hil_gpos.lat = hil_state.lat;
hil_gpos.lon = hil_state.lon;
hil_gpos.alt = hil_state.alt / 1000.0f;
hil_gpos.lat = hil_state.lat / 10000000.0f;//1E7
hil_gpos.lon = hil_state.lon / 10000000.0f;//1E7
hil_gpos.alt = hil_state.alt / 1000.0f;//1E3
hil_gpos.vel_n = hil_state.vx / 100.0f;
hil_gpos.vel_e = hil_state.vy / 100.0f;