Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-20 11:28:58 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

[gps] nmea: get geoid separation

Browse Source
This commit is contained in:
Felix Ruess
2015-03-24 18:30:07 +01:00
parent 830dd4ac62
commit d7568ff2b0
1 changed files with 12 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/subsystems/gps/gps_nmea.c
+12 -7
View File
@@ -373,17 +373,22 @@ static void nmea_parse_GGA(void)
// get altitude (in meters) above geoid (MSL)
nmea_read_until(&i);
// lla_f.alt should actuall be height above ellipsoid,
// but since we don't get that, use hmsl instead
lla_f.alt = strtof(&gps_nmea.msg_buf[i], NULL);
gps.hmsl = lla_f.alt * 1000;
gps.lla_pos.alt = gps.hmsl;
NMEA_PRINT("p_GPGGA() - gps_alt=%i\n\r", gps.hmsl);
float hmsl = strtof(&gps_nmea.msg_buf[i], NULL);
gps.hmsl = hmsl * 1000;
NMEA_PRINT("p_GPGGA() - gps.hmsl=%i\n\r", gps.hmsl);
// get altitude units (allways M)
// get altitude units (always M)
nmea_read_until(&i);
// get geoid seperation
nmea_read_until(&i);
float geoid = strtof(&gps_nmea.msg_buf[i], NULL);
NMEA_PRINT("p_GPGGA() - geoid alt=%f\n\r", geoid);
// height above ellipsoid
lla_f.alt = hmsl + geoid;
gps.lla_pos.alt = lla_f.alt * 1000;
NMEA_PRINT("p_GPGGA() - gps.alt=%i\n\r", gps.lla_pos.alt);
// get seperations units
nmea_read_until(&i);
// get DGPS age