From f613a2ff68178829189e0f8ce2c8d0bf40cc5a7c Mon Sep 17 00:00:00 2001 From: Daniel Cook Date: Fri, 10 Nov 2023 14:44:40 +1100 Subject: [PATCH] AP_ExternalAHRS: AdNav Fixed ordering of Lat/Long, Changed GNSS Packet Request to 5Hz --- .../AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp b/libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp index 973a5a88622bf3..1b58236e5b407c 100644 --- a/libraries/AP_ExternalAHRS/AP_ExternalAHRS_AdvancedNavigation.cpp +++ b/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];