Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-05 23:49:00 +08:00
Code Issues Actions 29 Packages Projects Releases Wiki Activity

[gps] for now, compute utm without nav_utm_zone0

Browse Source 
This variable is only available on fixedwing. It is not really nice to
report GPS pos without using the ref zone, but the possible error is
only on display and logged values, internaly it is correct if relevant.
This commit is contained in:
Gautier Hattenberger
2015-12-28 23:02:40 +01:00
parent e92f8522a1
commit dd24916486
1 changed files with 1 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/subsystems/gps.c
+1 -2
View File
@@ -25,7 +25,6 @@
*/ */
#include "subsystems/gps.h" #include "subsystems/gps.h"
#include "subsystems/navigation/common_nav.h"
#include "led.h" #include "led.h"
#ifdef GPS_POWER_GPIO #ifdef GPS_POWER_GPIO
@@ -90,7 +89,7 @@ static void send_gps(struct transport_tx *trans, struct link_device *dev)
uint8_t zero = 0; uint8_t zero = 0;
int16_t climb = -gps.ned_vel.z; int16_t climb = -gps.ned_vel.z;
int16_t course = (DegOfRad(gps.course) / ((int32_t)1e6)); int16_t course = (DegOfRad(gps.course) / ((int32_t)1e6));
struct UtmCoor_i utm = utm_int_from_gps(&gps, nav_utm_zone0); struct UtmCoor_i utm = utm_int_from_gps(&gps, 0);
pprz_msg_send_GPS(trans, dev, AC_ID, &gps.fix, pprz_msg_send_GPS(trans, dev, AC_ID, &gps.fix,
&utm.east, &utm.north, &utm.east, &utm.north,
&course, &gps.hmsl, &gps.gspeed, &climb, &course, &gps.hmsl, &gps.gspeed, &climb,