From 66b87ac7618d2e886b5389e3eef50af182b32f25 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Wed, 13 May 2015 16:04:33 +0200 Subject: [PATCH] Fix state-level HIL. Reported by @s3erjaeh --- src/modules/mavlink/mavlink_receiver.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 0cd163a0c9..988232dc21 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -1360,8 +1360,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg) memset(&hil_global_pos, 0, sizeof(hil_global_pos)); hil_global_pos.timestamp = timestamp; - hil_global_pos.lat = hil_state.lat; - hil_global_pos.lon = hil_state.lon; + hil_global_pos.lat = hil_state.lat / ((double)1e7); + hil_global_pos.lon = hil_state.lon / ((double)1e7); hil_global_pos.alt = hil_state.alt / 1000.0f; hil_global_pos.vel_n = hil_state.vx / 100.0f; hil_global_pos.vel_e = hil_state.vy / 100.0f;