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AP_GPS: log altitude above ellipsoid instead of undulation #29904

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Merged
merged 1 commit into from
Apr 29, 2025
Merged

AP_GPS: log altitude above ellipsoid instead of undulation #29904

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7 changes: 5 additions & 2 deletions libraries/AP_GPS/AP_GPS.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1912,11 +1912,14 @@ void AP_GPS::Write_GPS(uint8_t i)

/* write auxiliary accuracy information as well */
float hacc = 0, vacc = 0, sacc = 0;
int32_t alt_ellipsoid = INT32_MIN;
float undulation = 0;
horizontal_accuracy(i, hacc);
vertical_accuracy(i, vacc);
speed_accuracy(i, sacc);
get_undulation(i, undulation);
if (get_undulation(i, undulation)) {
alt_ellipsoid = loc.alt - (undulation*100);
}
struct log_GPA pkt2{
LOG_PACKET_HEADER_INIT(LOG_GPA_MSG),
time_us : time_us,
Expand All @@ -1929,7 +1932,7 @@ void AP_GPS::Write_GPS(uint8_t i)
have_vv : (uint8_t)have_vertical_velocity(i),
sample_ms : last_message_time_ms(i),
delta_ms : last_message_delta_time_ms(i),
undulation : undulation,
alt_ellipsoid : alt_ellipsoid,
rtcm_fragments_used: rtcm_stats.fragments_used,
rtcm_fragments_discarded: rtcm_stats.fragments_discarded
};
Expand Down
6 changes: 3 additions & 3 deletions libraries/AP_GPS/LogStructure.h
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Expand Up @@ -63,7 +63,7 @@ struct PACKED log_GPS {
// @Field: VV: true if vertical velocity is available
// @Field: SMS: time since system startup this sample was taken
// @Field: Delta: system time delta between the last two reported positions
// @Field: Und: Undulation
// @Field: AEl: altitude above WGS-84 ellipsoid; INT32_MIN (-2147483648) if unknown
// @Field: RTCMFU: RTCM fragments used
// @Field: RTCMFD: RTCM fragments discarded
struct PACKED log_GPA {
Expand All @@ -78,7 +78,7 @@ struct PACKED log_GPA {
uint8_t have_vv;
uint32_t sample_ms;
uint16_t delta_ms;
float undulation;
int32_t alt_ellipsoid;
uint16_t rtcm_fragments_used;
uint16_t rtcm_fragments_discarded;
};
Expand Down Expand Up @@ -207,7 +207,7 @@ struct PACKED log_GPS_RAWS {
{ LOG_GPS_MSG, sizeof(log_GPS), \
"GPS", "QBBIHBcLLeffffB", "TimeUS,I,Status,GMS,GWk,NSats,HDop,Lat,Lng,Alt,Spd,GCrs,VZ,Yaw,U", "s#-s-S-DUmnhnh-", "F--C-0BGGB000--" , true }, \
{ LOG_GPA_MSG, sizeof(log_GPA), \
"GPA", "QBCCCCfBIHfHH", "TimeUS,I,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta,Und,RTCMFU,RTCMFD", "s#-mmnd-ssm--", "F-BBBB0-CC0--" , true }, \
"GPA", "QBCCCCfBIHeHH", "TimeUS,I,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta,AEl,RTCMFU,RTCMFD", "s#-mmnd-ssm--", "F-BBBB0-CCB--" , true }, \
{ LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
"UBX1", "QBHBBHI", "TimeUS,Instance,noisePerMS,jamInd,aPower,agcCnt,config", "s#-----", "F------" , true }, \
{ LOG_GPS_UBX2_MSG, sizeof(log_Ubx2), \
Expand Down
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