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[modules] multi follow uses state interface for ltp_def

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Felix Ruess
2015-01-19 22:35:44 +01:00
parent b684dc60b0
commit 7763e4d498
1 changed files with 1 additions and 2 deletions
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sw/airborne/modules/multi/follow.c
+1 -2
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@@ -30,7 +30,6 @@
#include "generated/airframe.h" #include "generated/airframe.h"
#include "state.h" #include "state.h"
#include "subsystems/ins/ins_int.h"
#include "navigation.h" #include "navigation.h"
#include "messages.h" #include "messages.h"
#include "dl_protocol.h" #include "dl_protocol.h"
@@ -61,7 +60,7 @@ void follow_change_wp(unsigned char *buffer)
new_pos.z = DL_REMOTE_GPS_ecef_z(buffer); new_pos.z = DL_REMOTE_GPS_ecef_z(buffer);
// Translate to ENU // Translate to ENU
enu_of_ecef_point_i(&enu, &ins_impl.ltp_def, &new_pos); enu_of_ecef_point_i(&enu, &state.ned_origin_i, &new_pos);
INT32_VECT3_SCALE_2(enu, enu, INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN); INT32_VECT3_SCALE_2(enu, enu, INT32_POS_OF_CM_NUM, INT32_POS_OF_CM_DEN);
// TODO: Add the angle to the north // TODO: Add the angle to the north