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gt-marine-robotics-group / Virtuoso

ROS2 autonomy architecture for Georgia Tech Marine Robotics. Designed to be modular and work with any combination of sensors + motors.
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Kumar branch calculation #165

Closed seantfish closed 7 months ago

seantfish commented 7 months ago 
// Extract the LLH and high-precision components
double lat = ubx_hppos_llh_msg->lat * 1e-7 + ubx_hppos_llh_msg->lat_hp * 1e-9;
double lon = ubx_hppos_llh_msg->lon * 1e-7 + ubx_hppos_llh_msg->lon_hp * 1e-9;
double alt = ubx_hppos_llh_msg->height * 1e-3 + ubx_hppos_llh_msg->height_hp * 1e-4;