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menuCommonBaseCoords: don't subtract antennaHeight_mm + antennaPhaseCenter_mm for ECEF #823

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menuCommonBaseCoords: don't subtract antennaHeight_mm + antennaPhaseCenter_mm for ECEF #823

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19 changes: 10 additions & 9 deletions Firmware/RTK_Everywhere/menuBase.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -556,8 +556,8 @@ bool menuCommonBaseCoords()

systemPrintln("a) Add Coordinates");
systemPrintln("c) Add Current Coordinates");
systemPrintln("d) Delete Coordinates");
systemPrintln("l) Load Coordinates into Fixed Base");
systemPrintln("d) Delete Selected Coordinates");
systemPrintln("l) Load Selected Coordinates into Fixed Base");
systemPrintln("t) Add Current Coordinates with Timestamp");
systemPrintln("x) Exit");

Expand Down Expand Up @@ -609,7 +609,8 @@ bool menuCommonBaseCoords()
char coordsName[50];
if ((getUserInputString(coordsName, sizeof(coordsName)) == INPUT_RESPONSE_VALID)
&& (strlen(coordsName) > 0)
&& (strstr(coordsName, " ") == nullptr))
&& (strstr(coordsName, " ") == nullptr)
&& (strstr(coordsName, ",") == nullptr)) // No spaces or commas
{
char newCoords[100];
if (settings.fixedBaseCoordinateType == COORD_TYPE_GEODETIC)
Expand All @@ -627,11 +628,11 @@ bool menuCommonBaseCoords()
double ecefX = 0;
double ecefY = 0;
double ecefZ = 0;
geodeticToEcef(gnss->getLatitude(), gnss->getLongitude(),
gnss->getAltitude() - ((settings.antennaHeight_mm + settings.antennaPhaseCenter_mm) / 1000.0),
&ecefX, &ecefY, &ecefZ);
// Don't subtract antennaHeight_mm + antennaPhaseCenter_mm
geodeticToEcef(gnss->getLatitude(), gnss->getLongitude(), gnss->getAltitude(),
&ecefX, &ecefY, &ecefZ);
snprintf(newCoords, sizeof(newCoords), "%s,%.4lf,%.4lf,%.4lf",
coordsName, ecefX, ecefY, ecefZ);
coordsName, ecefX, ecefY, ecefZ);
recordLineToSD(stationCoordinateECEFFileName, newCoords);
recordLineToLFS(stationCoordinateECEFFileName, newCoords);
}
Expand Down Expand Up @@ -713,8 +714,8 @@ bool menuCommonBaseCoords()
double ecefX = 0;
double ecefY = 0;
double ecefZ = 0;
geodeticToEcef(gnss->getLatitude(), gnss->getLongitude(),
gnss->getAltitude() - ((settings.antennaHeight_mm + settings.antennaPhaseCenter_mm) / 1000.0),
// Don't subtract antennaHeight_mm + antennaPhaseCenter_mm
geodeticToEcef(gnss->getLatitude(), gnss->getLongitude(), gnss->getAltitude(),
&ecefX, &ecefY, &ecefZ);
snprintf(newCoords, sizeof(newCoords), "%s,%.4lf,%.4lf,%.4lf",
timestamp, ecefX, ecefY, ecefZ);
Expand Down