[SOLVED] How to read GPS Data from Pixhawk to MAVLink

BlueMS · April 18, 2018, 7:03am

Hi,

I develop my Custom GCS.
I know MSG_ID.GLOBAL_POSITION_INT contains GPS information. right?

Latitude, expressed as degrees * 1E7
Altitude in meters, expressed as * 1000 (millimeters)

What is the meaning of the two “degrees * 1E7” and “* 1000”?

Nikita · April 18, 2018, 7:44am

This values are multiplied by 10^7 and 1000 accordingly. You should divide received values from autopilot by this numbers.

github.com

ArduPilot/MissionPlanner/blob/master/ExtLibs/ArduPilot/CurrentState.cs#L2161-L2186


mavLinkMessage = MAV.getPacket((uint) MAVLink.MAVLINK_MSG_ID.GLOBAL_POSITION_INT);

if (mavLinkMessage != null)

{

    var loc = mavLinkMessage.ToStructure<MAVLink.mavlink_global_position_int_t>();



    // the new arhs deadreckoning may send 0 alt and 0 long. check for and undo



    alt = loc.relative_alt/1000.0f;



    useLocation = true;

    if (loc.lat == 0 && loc.lon == 0)

    {

        useLocation = false;

    }

    else

    {

        lat = loc.lat/10000000.0;

        lng = loc.lon/10000000.0;



        altasl = loc.alt/1000.0f;

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BlueMS · April 20, 2018, 12:31pm

Thanks you. I understand!!