===

DroneSimulator/Drone.cs

@@ -446,6 +446,16 @@ namespace DroneSimulator
       gps.Head.Type = DroneData.DataType.DataGPS;
       gps.Head.Time = (uint)Environment.TickCount;
 
+      GPS.Point p = new GPS.Point();
+      p.x = PosXYZ.Y; p.y= PosXYZ.X;
+
+      GPS.GlobalCoords g = new GPS.GlobalCoords();
+      g.latitude=GPS.Home.Lat; g.longitude=GPS.Home.Lon;
+
+      g=GPS.localToGlobal(p, g);
+
+      gps.Lat = g.latitude; gps.Lon = g.longitude;
+
       gps.Speed = MathF.Sqrt(SpdXYZ.X * SpdXYZ.X + SpdXYZ.Y * SpdXYZ.Y + SpdXYZ.Z * SpdXYZ.Z);
       gps.Alt = GPS.Home.Alt + PosXYZ.Z;