AP_ExternalAHRS: AdNav Fixed ordering of Lat/Long, Changed GNSS Packe…

…t Request to 5Hz

libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp

@@ -44,6 +44,7 @@
 #define AN_PACKET_ID_ACKNOWLEDGE 0
 #define AN_TIMEOUT 5000 //ms
 #define AN_MAXIMUM_PACKET_PERIODS 50
+#define AN_GNSS_PACKET_RATE 5
 
 #define an_packet_pointer(packet) packet->header
 #define an_packet_size(packet) (packet->length + AN_PACKET_HEADER_SIZE)*sizeof(uint8_t)
@@ -503,7 +504,7 @@ bool AP_ExternalAHRS_AdvancedNavigation::sendPacketRequest()
             },
             AN_PERIOD{
                 id: AN_PACKET_ID_RAW_GNSS,
-                packet_period: (uint32_t) 1.0e3 / _current_rate
+                packet_period: (uint32_t) 1.0e3 / AN_GNSS_PACKET_RATE
             },
             AN_PERIOD{
                 id: AN_PACKET_ID_SATELLITES,
@@ -733,8 +734,8 @@ void AP_ExternalAHRS_AdvancedNavigation::handle_packet()
         gps.hdop = _last_satellites->hdop;
         gps.vdop = _last_satellites->vdop;
 
-        gps.longitude = (int32_t) (degrees(_msg.packet.payload.raw_gnss.llh[0]) * 1.0e7);
-        gps.latitude = (int32_t) (degrees(_msg.packet.payload.raw_gnss.llh[1]) * 1.0e7);
+        gps.latitude = (int32_t) (degrees(_msg.packet.payload.raw_gnss.llh[0]) * 1.0e7);
+        gps.longitude = (int32_t) (degrees(_msg.packet.payload.raw_gnss.llh[1]) * 1.0e7);
         gps.msl_altitude = (int32_t) (_msg.packet.payload.raw_gnss.llh[2] * 1.0e2);
 
         gps.ned_vel_north = _msg.packet.payload.raw_gnss.velocity_ned[0];