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Merge pull request #12 from SHC-ASTRA/gps-altitude

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subup, update core to add gps altitude
This commit is contained in:
Tristan McGinnis
2025-05-28 11:12:28 -05:00
committed by GitHub
parent 1ea247bac0 3516d36294
commit 5c3eae2318
2 changed files with 4 additions and 1 deletions
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3
src/core_pkg/core_pkg/core_node.py
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@@ -202,6 +202,9 @@ class SerialRelay(Node):
self.core_feedback.gps_long = float(parts[3]) self.core_feedback.gps_long = float(parts[3])
elif output.startswith("can_relay_fromvic,core,50"):#GNSS Satellite Count elif output.startswith("can_relay_fromvic,core,50"):#GNSS Satellite Count
self.core_feedback.gps_sats = round(float(parts[3])) self.core_feedback.gps_sats = round(float(parts[3]))
#if parts length is at least 5 then we should have altitude, this is a temporary check until fully implemented
if len(parts) >= 5:
self.core_feedback.gps_alt = round(float(parts[4]), 2)
elif output.startswith("can_relay_fromvic,core,51"):#Gyro x,y,z elif output.startswith("can_relay_fromvic,core,51"):#Gyro x,y,z
self.core_feedback.bno_gyro.x = float(parts[3]) self.core_feedback.bno_gyro.x = float(parts[3])
self.core_feedback.bno_gyro.y = float(parts[4]) self.core_feedback.bno_gyro.y = float(parts[4])

2
src/ros2_interfaces_pkg

Submodule src/ros2_interfaces_pkg updated: a412af5017...4153f2c818