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Added elevation data on simulator side #22

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Added elevation data on simulator side #22

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10 changes: 7 additions & 3 deletions Assets/Scripts/GpsSensor.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,8 @@ public class GpsSensor : MonoBehaviour
private double initLat = 0.0;
[SerializeField]
private double initLon = 0.0;
[SerializeField]
private double initAlt= 0.0;

private RoverSocket _socket;

Expand Down Expand Up @@ -59,14 +61,16 @@ private void ReportPosition()
// z+ is north, x+ is east
double[] GPS = Utilities.metersToGPS(new double[] {
transform.position.z + _noise * Utilities.GaussianRandom(),
transform.position.x + _noise * Utilities.GaussianRandom()},
new double[] {initLat, initLon});
transform.position.x + _noise * Utilities.GaussianRandom(),
transform.position.y + _noise * Utilities.GaussianRandom()},
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If we are reporting the altitude in meters anyway, I don't think we need to pass it into this metersToGPS function

new double[] {initLat, initLon, initAlt});

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Can probably just insert something like double altitude = transform.position.y + _noise * Utilities.GaussianRandom(); here and use it in the report below

JObject positionReport = new JObject()
{
["type"] = "simGpsPositionReport",
["latitude"] = GPS[0],
["longitude"] = GPS[1]
["longitude"] = GPS[1],
["altitude"] = GPS[2]
};
_socket.Send(positionReport);
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Make sure to update the READMEs with the updated report packets please 🙏

}
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4 changes: 2 additions & 2 deletions Assets/Scripts/Utilities.cs
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Expand Up @@ -48,7 +48,7 @@ public static Quaternion ConvertUnityToRover(Quaternion rotation)
/// <returns></returns>
public static double[] metersToGPS(double[] offset, double[] init = null)
{
init = init is null ? new double[] {0.0, 0.0} : init;
init = init is null ? new double[] {0.0, 0.0, 0.0} : init;
// North is +lat and East is +lon

// The Earth is not a perfect sphere, so we approximate the Earth's surface with an ellipsoid
Expand All @@ -70,7 +70,7 @@ public static double[] metersToGPS(double[] offset, double[] init = null)
double metersPerDegLat = (Math.PI * semiMajorAxis * (1 - eSq)) / (180.0 * Math.Pow(var, 1.5));
double degDiffLat = offset[0] / metersPerDegLat;
double degDiffLon = offset[1] / metersPerDegLon;
return new double[] {init[0] + degDiffLat, init[1] + degDiffLon};
return new double[] {init[0] + degDiffLat, init[1] + degDiffLon, init[2] + offset[2]};
}

/// <summary>
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