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[modules] nav_survey_poly_osam: protect dc stuff

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This commit is contained in:
Felix Ruess
2014-12-14 23:11:59 +01:00
parent 38b13457af
commit 41593685fe
1 changed files with 7 additions and 0 deletions
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sw/airborne/modules/nav/nav_survey_poly_osam.c
+7
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@@ -31,6 +31,10 @@
#include "autopilot.h" #include "autopilot.h"
#include "generated/flight_plan.h" #include "generated/flight_plan.h"
#ifdef DIGITAL_CAM
#include "modules/digital_cam/dc.h"
#endif
#ifndef POLY_OSAM_DEFAULT_SIZE #ifndef POLY_OSAM_DEFAULT_SIZE
#define POLY_OSAM_DEFAULT_SIZE 5 #define POLY_OSAM_DEFAULT_SIZE 5
#endif #endif
@@ -392,6 +396,7 @@ bool_t nav_survey_poly_osam_run(void)
TranslateAndRotateFromWorld(&C, SurveyTheta, 0, 0); TranslateAndRotateFromWorld(&C, SurveyTheta, 0, 0);
TranslateAndRotateFromWorld(&C, 0, SmallestCorner.x, SmallestCorner.y); TranslateAndRotateFromWorld(&C, 0, SmallestCorner.x, SmallestCorner.y);
#ifdef DIGITAL_CAM
{ {
//calc distance from line start and plane position (use only X position because y can be far due to wind or other factor) //calc distance from line start and plane position (use only X position because y can be far due to wind or other factor)
float dist = FromP.x - C.x; float dist = FromP.x - C.x;
@@ -402,6 +407,8 @@ bool_t nav_survey_poly_osam_run(void)
LINE_START_FUNCTION; LINE_START_FUNCTION;
} }
} }
#endif
//Rotate and Translate Line points into real world //Rotate and Translate Line points into real world
RotateAndTranslateToWorld(&ToP, 0, SmallestCorner.x, SmallestCorner.y); RotateAndTranslateToWorld(&ToP, 0, SmallestCorner.x, SmallestCorner.y);
RotateAndTranslateToWorld(&ToP, SurveyTheta, 0, 0); RotateAndTranslateToWorld(&ToP, SurveyTheta, 0, 0);