Added unit conversion as constant

fixposition · Jan 15, 2024 · 4ece541 · 4ece541
1 parent b243cde
commit 4ece541
Show file tree

Hide file tree

Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/fixposition_driver_lib/src/gprmc.cpp b/fixposition_driver_lib/src/gprmc.cpp
@@ -20,6 +20,9 @@
 
 namespace fixposition {
 
+// unit transformation constant
+static constexpr double knots_to_ms = 1852.0 / 3600.0; //!< convert knots to m/s
+
 /// msg field indices
 static constexpr const int time_idx = 1;
 static constexpr const int status_idx = 2;
@@ -57,8 +60,8 @@ void GprmcConverter::ConvertTokens(const std::vector<std::string>& tokens) {
     if (tokens.at(lon_ew_idx).compare("W") == 0) _lon *= -1;
     msg_.longitude = _lon;
 
-    // Speed and course over groung
-    msg_.speed = StringToDouble(tokens.at(speed_idx)) * 1852.0 / 3600.0;
+    // Speed [m/s] and course [deg] over ground
+    msg_.speed = StringToDouble(tokens.at(speed_idx)) * knots_to_ms;
     msg_.course = StringToDouble(tokens.at(course_idx));
 
     // Get GPS status

diff --git a/fixposition_driver_ros1/launch/tcp.yaml b/fixposition_driver_ros1/launch/tcp.yaml
@@ -2,7 +2,7 @@ fp_output:
     formats: ["ODOMETRY", "LLH", "RAWIMU", "CORRIMU", "GPGGA", "GPZDA", "GPRMC", "TF"]
     type: tcp
     port: "21000"
-    ip: "10.0.2.1" # change to VRTK2's IP address in the network
+    ip: "127.0.0.1" # change to VRTK2's IP address in the network
     rate: 200
     reconnect_delay: 5.0 # wait time in [s] until retry connection
 

diff --git a/fixposition_driver_ros2/CATKIN_IGNORE b/fixposition_driver_ros2/CATKIN_IGNORE