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AP_GPS: Fix undulation incorrect convention #29200

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AP_GPS: Fix undulation incorrect convention #29200

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4 changes: 2 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 @@ -1377,7 +1377,7 @@ void AP_GPS::send_mavlink_gps_raw(mavlink_channel_t chan)
float undulation = 0.0;
int32_t height_elipsoid_mm = 0;
if (get_undulation(0, undulation)) {
height_elipsoid_mm = loc.alt*10 - undulation*1000;
height_elipsoid_mm = loc.alt*10 + undulation*1000;
}
horizontal_accuracy(0, hacc);
vertical_accuracy(0, vacc);
Expand Down Expand Up @@ -1418,7 +1418,7 @@ void AP_GPS::send_mavlink_gps2_raw(mavlink_channel_t chan)
float undulation = 0.0;
float height_elipsoid_mm = 0;
if (get_undulation(1, undulation)) {
height_elipsoid_mm = loc.alt*10 - undulation*1000;
height_elipsoid_mm = loc.alt*10 + undulation*1000;
}
horizontal_accuracy(1, hacc);
vertical_accuracy(1, vacc);
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_GPS/AP_GPS_DroneCAN.cpp
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Expand Up @@ -382,7 +382,7 @@ void AP_GPS_DroneCAN::handle_fix2_msg(const uavcan_equipment_gnss_Fix2& msg, uin
loc.lng = msg.longitude_deg_1e8 / 10;
const int32_t alt_amsl_cm = msg.height_msl_mm / 10;
interim_state.have_undulation = true;
interim_state.undulation = (msg.height_msl_mm - msg.height_ellipsoid_mm) * 0.001;
interim_state.undulation = (msg.height_ellipsoid_mm - msg.height_msl_mm) * 0.001;
interim_state.location = loc;
set_alt_amsl_cm(interim_state, alt_amsl_cm);

Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_GPS/AP_GPS_ERB.cpp
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Expand Up @@ -151,7 +151,7 @@ AP_GPS_ERB::_parse_gps(void)
state.location.lng = (int32_t)(_buffer.pos.longitude * (double)1e7);
state.location.lat = (int32_t)(_buffer.pos.latitude * (double)1e7);
state.have_undulation = true;
state.undulation = _buffer.pos.altitude_msl - _buffer.pos.altitude_ellipsoid;
state.undulation = _buffer.pos.altitude_ellipsoid - _buffer.pos.altitude_msl;
set_alt_amsl_cm(state, _buffer.pos.altitude_msl * 100);
state.status = next_fix;
_new_position = true;
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_GPS/AP_GPS_NMEA.cpp
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Expand Up @@ -458,7 +458,7 @@ bool AP_GPS_NMEA::_term_complete()
_last_3D_velocity_ms = now;
state.location.lat = ag.lat*1.0e7;
state.location.lng = ag.lng*1.0e7;
state.undulation = -ag.undulation;
state.undulation = ag.undulation;
state.have_undulation = true;
set_alt_amsl_cm(state, ag.alt*1.0e2);
state.velocity = ag.vel_NED;
Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_GPS/AP_GPS_SIRF.cpp
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Expand Up @@ -185,7 +185,7 @@ AP_GPS_SIRF::_parse_gps(void)
state.location.lng = int32_t(be32toh(_buffer.nav.longitude));
const int32_t alt_amsl = int32_t(be32toh(_buffer.nav.altitude_msl));
const int32_t alt_ellipsoid = int32_t(be32toh(_buffer.nav.altitude_ellipsoid));
state.undulation = (alt_amsl - alt_ellipsoid)*0.01;
state.undulation = (alt_ellipsoid - alt_amsl)*0.01;
state.have_undulation = true;
set_alt_amsl_cm(state, alt_amsl);
state.ground_speed = int32_t(be32toh(_buffer.nav.ground_speed))*0.01f;
Expand Down
4 changes: 2 additions & 2 deletions libraries/AP_GPS/AP_GPS_UBLOX.cpp
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Expand Up @@ -1495,7 +1495,7 @@ AP_GPS_UBLOX::_parse_gps(void)
state.location.lng = _buffer.posllh.longitude;
state.location.lat = _buffer.posllh.latitude;
state.have_undulation = true;
state.undulation = (_buffer.posllh.altitude_msl - _buffer.posllh.altitude_ellipsoid) * 0.001;
state.undulation = (_buffer.posllh.altitude_ellipsoid - _buffer.posllh.altitude_msl) * 0.001;
set_alt_amsl_cm(state, _buffer.posllh.altitude_msl / 10);

state.status = next_fix;
Expand Down Expand Up @@ -1655,7 +1655,7 @@ AP_GPS_UBLOX::_parse_gps(void)
state.location.lng = _buffer.pvt.lon;
state.location.lat = _buffer.pvt.lat;
state.have_undulation = true;
state.undulation = (_buffer.pvt.h_msl - _buffer.pvt.h_ellipsoid) * 0.001;
state.undulation = (_buffer.pvt.h_ellipsoid - _buffer.pvt.h_msl) * 0.001;
set_alt_amsl_cm(state, _buffer.pvt.h_msl / 10);
switch (_buffer.pvt.fix_type)
{
Expand Down
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