Fix altitude to elevation #32
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Signed-off-by: frede791 <[email protected]>
| @@ -113,6 +113,7 @@ | |||
| <world_frame_orientation>ENU</world_frame_orientation> | |||
| <latitude_deg>37.412173071650805</latitude_deg> | |||
| <longitude_deg>-121.998878727967</longitude_deg> | |||
| <elevation>38</elevation> | |||
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Is this going to be the elevation above the average mean sea level? If so, we need to handle this on the GPS plugin side since it reports both ellipsoidal altitude (WGS84) and average mean sea level (AMSL)
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@Jaeyoung-Lim Good question. I'm not sure exacty but I looked at another source that showed that the elevation of the park itself is between -1 and 1m (it is right by the sea side)
https://en-ca.topographic-map.com/map-bj51h/Sunnyvale/?center=37.41279%2C-121.99417&zoom=16&popup=37.41189%2C-121.99704
Perhaps it is therefore best left at 0?
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@frede791 It is actually irrelevant how close the water level is. The AMSL is defined through a geoid (e.g. EGM96: https://en.wikipedia.org/wiki/Earth_Gravitational_Model).
I recently had some issues with the GPS plugin that the reported altitude alignments were unrealistic (Currently the GPS plugin assumes that the ellipsoidal altitude and AMSL altitude are the same: https://github.com/PX4/PX4-Autopilot/blob/8a7573351182bcc7181bb0377e35f62b2ad267ff/src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp#L158-L159
So wanted to make sure we have are considering these since we are now taking into account geocoordinates.
As mentioned in issue #31, the word altitude is not correct and should be replaced by the word elevation.
For baylands, the elevation was taken as the real-life location of the park in Sunnyvale, CA, which has an elevation of 38 metres above sea level. https://en.wikipedia.org/wiki/Sunnyvale,_California