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[nps][fixedwing] fix sim_overwrite_ins

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This commit is contained in:
Felix Ruess
2016-03-07 23:13:48 +01:00
parent fca344b3eb
commit 2c18a3839a
1 changed files with 13 additions and 3 deletions
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sw/simulator/nps/nps_autopilot_fixedwing.c
+13 -3
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@@ -204,9 +204,19 @@ void sim_overwrite_ahrs(void)
void sim_overwrite_ins(void)
{
struct NedCoor_f ltp_pos;
VECT3_COPY(ltp_pos, fdm.ltpprz_pos);
stateSetPositionNed_f(&ltp_pos);
if (state.ned_initialized_i || state.ned_initialized_f) {
struct NedCoor_f ltp_pos;
VECT3_COPY(ltp_pos, fdm.ltpprz_pos);
stateSetPositionNed_f(&ltp_pos);
}
else if (state.utm_initialized_f) {
struct LlaCoor_f lla;
LLA_COPY(lla, fdm.lla_pos);
struct UtmCoor_f utm;
utm.zone = (lla.lon / 1e7 + 180) / 6 + 1;
utm_of_lla_f(&utm, &lla);
stateSetPositionUtm_f(&utm);
}
struct NedCoor_f ltp_speed;
VECT3_COPY(ltp_speed, fdm.ltpprz_ecef_vel);