Fixed GNSS alt measurement generation issue.

rosflight · May 2, 2024 · bc22ce2 · bc22ce2
1 parent 099bc20
commit bc22ce2
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/rosflight_sim/src/sil_board.cpp b/rosflight_sim/src/sil_board.cpp
@@ -571,7 +571,7 @@ rosflight_firmware::GNSSData SILBoard::gnss_read()
 
   out.lat = (int) std::round(rad2Deg(lla.X()) * 1e7);
   out.lon = (int) std::round(rad2Deg(lla.Y()) * 1e7);
-  out.height = (int) std::round(rad2Deg(lla.Z()) * 1e3);
+  out.height = (int) std::round(lla.Z() * 1e3);
 
   // For now, we have defined the Gazebo Local Frame as NWU.  This should be fixed in a future
   // commit