Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-06 07:53:43 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

change ins_init() to use LLA instead of ECEF. Should be called *after* hmsl is available

Browse Source
This commit is contained in:
Pascal Brisset
2009-09-18 15:37:32 +00:00
parent 36a8ab54a9
commit 04a437cb7f
1 changed files with 9 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/booz/booz2_ins.c
+9 -1
View File
@@ -84,8 +84,16 @@ struct EnuCoor_i booz_ins_enu_accel;
void booz_ins_init() {
#ifdef USE_INS_NAV_INIT
booz_ins_ltp_initialised = TRUE;
/** FIXME: should use the same code than MOVE_WP in booz2_datalink.c */
struct LlaCoor_i llh; /* Height above the ellipsoid */
llh.lat = INT32_RAD_OF_DEG(NAV_LAT0);
llh.lon = INT32_RAD_OF_DEG(NAV_LON0);
llh.alt = NAV_ALT0 - booz_ins_ltp_def.hmsl + booz_ins_ltp_def.lla.alt;
struct EcefCoor_i nav_init;
VECT3_ASSIGN(nav_init,NAV_ECEF_X0,NAV_ECEF_Y0,NAV_ECEF_Z0);
ecef_of_lla_i(&nav_init, &llh);
ltp_def_from_ecef_i(&booz_ins_ltp_def, &nav_init);
#else
booz_ins_ltp_initialised = FALSE;