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waypoints constrained close to HOME

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This commit is contained in:
Pascal Brisset
2007-09-13 10:50:43 +00:00
parent 23995f4bb4
commit 10f5d8291e
1 changed files with 5 additions and 1 deletions
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sw/airborne/datalink.c
+5 -1
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@@ -75,8 +75,12 @@ void dl_parse_msg(void) {
float lat = RadOfDeg(DL_MOVE_WP_lat(dl_buffer));
float lon = RadOfDeg(DL_MOVE_WP_lon(dl_buffer));
latlong_utm_of(lat, lon, nav_utm_zone0);
MoveWaypoint(wp_id, latlong_utm_x, latlong_utm_y, a);
/* Waypoint range is limited. Computes the UTM pos back from the relative
coordinates */
latlong_utm_x = waypoints[wp_id].x + nav_utm_east0;
latlong_utm_y = waypoints[wp_id].y + nav_utm_north0;
DOWNLINK_SEND_WP_MOVED(&wp_id, &latlong_utm_x, &latlong_utm_y, &a, &nav_utm_zone0);
} else if (msg_id == DL_BLOCK) {
nav_goto_block(DL_BLOCK_block_id(dl_buffer));