Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-31 10:26:52 +08:00
Code Issues Actions 7 Packages Projects Releases Wiki Activity

fw: fix global position lat/lon read-in (lat/lon have changed to double lately)

Browse Source
This commit is contained in:
Thomas Gubler
2014-02-01 11:58:34 +01:00
parent 0be7bd3166
commit e8dd70e815
1 changed files with 7 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+7 -7
View File
@@ -785,26 +785,26 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_tecs.set_speed_weight(_parameters.speed_weight); _tecs.set_speed_weight(_parameters.speed_weight);
/* current waypoint (the one currently heading for) */ /* current waypoint (the one currently heading for) */
math::Vector<2> next_wp(pos_sp_triplet.current.lat, pos_sp_triplet.current.lon); math::Vector<2> next_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon);
/* current waypoint (the one currently heading for) */ /* current waypoint (the one currently heading for) */
math::Vector<2> curr_wp(pos_sp_triplet.current.lat, pos_sp_triplet.current.lon); math::Vector<2> curr_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon);
/* previous waypoint */ /* previous waypoint */
math::Vector<2> prev_wp; math::Vector<2> prev_wp;
if (pos_sp_triplet.previous.valid) { if (pos_sp_triplet.previous.valid) {
prev_wp(0) = pos_sp_triplet.previous.lat; prev_wp(0) = (float)pos_sp_triplet.previous.lat;
prev_wp(1) = pos_sp_triplet.previous.lon; prev_wp(1) = (float)pos_sp_triplet.previous.lon;
} else { } else {
/* /*
* No valid previous waypoint, go for the current wp. * No valid previous waypoint, go for the current wp.
* This is automatically handled by the L1 library. * This is automatically handled by the L1 library.
*/ */
prev_wp(0) = pos_sp_triplet.current.lat; prev_wp(0) = (float)pos_sp_triplet.current.lat;
prev_wp(1) = pos_sp_triplet.current.lon; prev_wp(1) = (float)pos_sp_triplet.current.lon;
} }
@@ -1263,7 +1263,7 @@ FixedwingPositionControl::task_main()
// vehicle_baro_poll(); // vehicle_baro_poll();
math::Vector<2> ground_speed(_global_pos.vel_n, _global_pos.vel_e); math::Vector<2> ground_speed(_global_pos.vel_n, _global_pos.vel_e);
math::Vector<2> current_position(_global_pos.lat / 1e7f, _global_pos.lon / 1e7f); math::Vector<2> current_position((float)_global_pos.lat, (float)_global_pos.lon);
/* /*
* Attempt to control position, on success (= sensors present and not in manual mode), * Attempt to control position, on success (= sensors present and not in manual mode),