altitude is in meters, thanks daniel

Author: betaBison

gnss_lib_py/algorithms/gnss_filters.py

@@ -134,7 +134,7 @@ def solve_gnss_ekf(measurements, init_dict = None,
                                                    "z_rx_ekf_m"]].reshape(3,-1))
     state_estimate["lat_rx_ekf_deg"] = lat
     state_estimate["lon_rx_ekf_deg"] = lon
-    state_estimate["alt_rx_ekf_deg"] = alt
+    state_estimate["alt_rx_ekf_m"] = alt
 
     return state_estimate
 

gnss_lib_py/algorithms/snapshot.py

@@ -70,7 +70,7 @@ def solve_wls(measurements, weight_type = None, only_bias = False,
         the NavData class with shape (4 x # unique timesteps) and
         the following rows: gps_millis, x_rx_wls_m, y_rx_wls_m,
         z_rx_wls_m, b_rx_wls_m, lat_rx_wls_deg, lon_rx_wls_deg,
-        alt_rx_wls_deg.
+        alt_rx_wls_m.
 
     """
 
@@ -154,7 +154,7 @@ def solve_wls(measurements, weight_type = None, only_bias = False,
                                    "z_rx_wls_m"]].reshape(3,-1))
     state_estimate["lat_rx_wls_deg"] = lat
     state_estimate["lon_rx_wls_deg"] = lon
-    state_estimate["alt_rx_wls_deg"] = alt
+    state_estimate["alt_rx_wls_m"] = alt
 
     return state_estimate
 

gnss_lib_py/parsers/android.py

@@ -597,7 +597,7 @@ def solve_kaggle_baseline(navdata):
                                      data_df["unix_millis"].to_numpy())
     state_estimate["lat_rx_deg"] = lat
     state_estimate["lon_rx_deg"] = lon
-    state_estimate["alt_rx_deg"] = alt
+    state_estimate["alt_rx_m"] = alt
 
     return state_estimate
 

tests/algorithms/test_gnss_filters.py

@@ -187,7 +187,7 @@ def test_solve_gnss_ekf(derived):
     assert "b_rx_ekf_m" in state_estimate.rows
     assert "lat_rx_ekf_deg" in state_estimate.rows
     assert "lon_rx_ekf_deg" in state_estimate.rows
-    assert "alt_rx_ekf_deg" in state_estimate.rows
+    assert "alt_rx_ekf_m" in state_estimate.rows
 
     # should have the same length as the number of unique timesteps
     assert len(state_estimate) == sum(1 for _ in derived.loop_time("gps_millis"))

tests/algorithms/test_snapshot.py

@@ -378,7 +378,7 @@ def test_solve_wls(derived):
     assert "b_rx_wls_m" in state_estimate.rows
     assert "lat_rx_wls_deg" in state_estimate.rows
     assert "lon_rx_wls_deg" in state_estimate.rows
-    assert "alt_rx_wls_deg" in state_estimate.rows
+    assert "alt_rx_wls_m" in state_estimate.rows
 
     # should have the same length as the number of unique timesteps
     assert len(state_estimate) == sum(1 for _ in derived.loop_time("gps_millis"))
@@ -551,7 +551,7 @@ def test_solve_wls_bias_only(derived_2022):
     assert "b_rx_wls_m" in state_estimate.rows
     assert "lat_rx_wls_deg" in state_estimate.rows
     assert "lon_rx_wls_deg" in state_estimate.rows
-    assert "alt_rx_wls_deg" in state_estimate.rows
+    assert "alt_rx_wls_m" in state_estimate.rows
 
     # should have the same length as the number of unique timesteps
     assert len(state_estimate) == time_length

tests/parsers/test_android.py

@@ -739,7 +739,7 @@ def test_solve_kaggle_baseline(derived_2022):
     state_estimate = android.solve_kaggle_baseline(derived_2022)
 
     state_estimate.in_rows(["gps_millis","lat_rx_deg",
-                            "lon_rx_deg","alt_rx_deg"])
+                            "lon_rx_deg","alt_rx_m"])
 
     assert state_estimate.shape[1] == 6