Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-30 19:47:50 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

send correct lla altitude

Browse Source
This commit is contained in:
Ewoud Smeur
2016-03-10 13:47:00 +01:00
parent e1c0a750b7
commit 9f5b03e01c
1 changed files with 6 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/ground_segment/misc/natnet2ivy.c
+6 -5
View File
@@ -586,7 +586,7 @@ gboolean timeout_transmit_callback(gpointer data)
(int)(ecef_pos.z * 100.0), //int32 ECEF Z in CM (int)(ecef_pos.z * 100.0), //int32 ECEF Z in CM
(int)(lla_pos.lat * 10000000.0), //int32 LLA latitude in rad*1e7 (int)(lla_pos.lat * 10000000.0), //int32 LLA latitude in rad*1e7
(int)(lla_pos.lon * 10000000.0), //int32 LLA longitude in rad*1e7 (int)(lla_pos.lon * 10000000.0), //int32 LLA longitude in rad*1e7
(int)(rigidBodies[i].z * 1000.0), //int32 LLA altitude in mm above elipsoid (int)(lla_pos.alt*1000.0), //int32 LLA altitude in mm above elipsoid
(int)(rigidBodies[i].z * 1000.0), //int32 HMSL height above mean sea level in mm (int)(rigidBodies[i].z * 1000.0), //int32 HMSL height above mean sea level in mm
(int)(rigidBodies[i].ecef_vel.x * 100.0), //int32 ECEF velocity X in m/s (int)(rigidBodies[i].ecef_vel.x * 100.0), //int32 ECEF velocity X in m/s
(int)(rigidBodies[i].ecef_vel.y * 100.0), //int32 ECEF velocity Y in m/s (int)(rigidBodies[i].ecef_vel.y * 100.0), //int32 ECEF velocity Y in m/s
@@ -613,7 +613,7 @@ gboolean timeout_transmit_callback(gpointer data)
(int)(ecef_pos.z * 100.0), //int32 ECEF Z in CM (int)(ecef_pos.z * 100.0), //int32 ECEF Z in CM
(int)(DegOfRad(lla_pos.lat) * 1e7), //int32 LLA latitude in deg*1e7 (int)(DegOfRad(lla_pos.lat) * 1e7), //int32 LLA latitude in deg*1e7
(int)(DegOfRad(lla_pos.lon) * 1e7), //int32 LLA longitude in deg*1e7 (int)(DegOfRad(lla_pos.lon) * 1e7), //int32 LLA longitude in deg*1e7
(int)(rigidBodies[i].z * 1000.0), //int32 LLA altitude in mm above elipsoid (int)(lla_pos.alt*1000.0), //int32 LLA altitude in mm above elipsoid
(int)(rigidBodies[i].z * 1000.0), //int32 HMSL height above mean sea level in mm (int)(rigidBodies[i].z * 1000.0), //int32 HMSL height above mean sea level in mm
(int)(rigidBodies[i].ecef_vel.x * 100.0), //int32 ECEF velocity X in cm/s (int)(rigidBodies[i].ecef_vel.x * 100.0), //int32 ECEF velocity X in cm/s
(int)(rigidBodies[i].ecef_vel.y * 100.0), //int32 ECEF velocity Y in cm/s (int)(rigidBodies[i].ecef_vel.y * 100.0), //int32 ECEF velocity Y in cm/s
@@ -849,9 +849,10 @@ int main(int argc, char **argv)
{ {
// Set the default tracking system position and angle // Set the default tracking system position and angle
struct EcefCoor_d tracking_ecef; struct EcefCoor_d tracking_ecef;
tracking_ecef.x = 3924332; //alt 45 m because of ellipsoid altitude in Delft
tracking_ecef.y = 300362; tracking_ecef.x = 3924331.5;
tracking_ecef.z = 5002197; tracking_ecef.y = 300361.7;
tracking_ecef.z = 5002197.1;
tracking_offset_angle = 33.0 / 57.6; tracking_offset_angle = 33.0 / 57.6;
ltp_def_from_ecef_d(&tracking_ltp, &tracking_ecef); ltp_def_from_ecef_d(&tracking_ltp, &tracking_ecef);