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[messages] add hmsl to GPS_LLA

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This commit is contained in:
Felix Ruess
2015-08-03 17:56:46 +02:00
parent 451155f439
commit 70f2b7946e
2 changed files with 2 additions and 1 deletions
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conf/messages.xml
+1
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@@ -464,6 +464,7 @@
<field name="lat" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="lon" type="int32" unit="1e7deg" alt_unit="deg" alt_unit_coef="0.0000001"/>
<field name="alt" type="int32" unit="mm" alt_unit="m">altitude above WGS84 reference ellipsoid</field>
<field name="hmsl" type="int32" unit="mm" alt_unit="m">Height above Mean Sea Level (geoid)</field>
<field name="course" type="int16" unit="decideg" alt_unit="deg"/>
<field name="speed" type="uint16" unit="cm/s" alt_unit="m/s"/>
<field name="climb" type="int16" unit="cm/s" alt_unit="m/s"/>
sw/airborne/subsystems/gps.c
+1 -1
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@@ -121,7 +121,7 @@ static void send_gps_lla(struct transport_tx *trans, struct link_device *dev)
int16_t course = (DegOfRad(gps.course) / ((int32_t)1e6));
pprz_msg_send_GPS_LLA(trans, dev, AC_ID,
&gps.lla_pos.lat, &gps.lla_pos.lon, &gps.lla_pos.alt,
&course, &gps.gspeed, &climb,
&gps.hmsl, &course, &gps.gspeed, &climb,
&gps.week, &gps.tow,
&gps.fix, &err);
}