[paparazzi-commits] [paparazzi/paparazzi] bc342d: [modules][messages] mission: LLA waypoints in 1e7d...

[GitHub]

  Branch: refs/heads/mission_module_latlon_int
  Home:   https://github.com/paparazzi/paparazzi
  Commit: bc342daf5554620a7fa95f7798a7283d68ecd872
      
https://github.com/paparazzi/paparazzi/commit/bc342daf5554620a7fa95f7798a7283d68ecd872
  Author: Felix Ruess <address@hidden>
  Date:   2014-11-26 (Wed, 26 Nov 2014)

  Changed paths:
    M conf/messages.xml
    M sw/airborne/modules/mission/mission_common.c
    M sw/airborne/modules/mission/mission_common.h
    M sw/airborne/modules/mission/mission_fw_nav.c
    M sw/airborne/modules/mission/mission_rotorcraft_nav.c

  Log Message:
  -----------
  [modules][messages] mission: LLA waypoints in 1e7deg instead of float

A 32bit float has 23bits for the mantissa, which is a bit more than 7 digits.
Since you already use 3 digits to represent the part to the left of the decimal 
point, that leaves about 4 digits for the rest..
So in the worst case of 180deg you have a resolution of only ~3m!

With 1e7deg 32bit int you get ~1cm resolution.

Rotorcraft part: Also removed the removed the altitude conversion from geoid 
alt to ellipsoid alt,
requiring the alt in the message to already have ellipsoid alt.

addresses first part of #984