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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-24 00:06:10 +0100 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-24 00:06:10 +0100 |
commit | 58792c5ca6e42bc251dd3c92b0e79217ff5d5403 (patch) | |
tree | ea46289f1159857c26ea40f71674a3bbb06cec8e /src/examples | |
parent | b3d98e4a19662af44432a0436a1b5de7fb9649c9 (diff) | |
download | px4-firmware-58792c5ca6e42bc251dd3c92b0e79217ff5d5403.tar.gz px4-firmware-58792c5ca6e42bc251dd3c92b0e79217ff5d5403.tar.bz2 px4-firmware-58792c5ca6e42bc251dd3c92b0e79217ff5d5403.zip |
Use double for lat/lon in vehicle_global_position topic, use filed names lat, lon, alt, vel_n, vel_e, vel_d for global positions
Diffstat (limited to 'src/examples')
-rw-r--r-- | src/examples/fixedwing_control/main.c | 6 |
1 files changed, 1 insertions, 5 deletions
diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c index b286e0007..067d77364 100644 --- a/src/examples/fixedwing_control/main.c +++ b/src/examples/fixedwing_control/main.c @@ -181,11 +181,7 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct v * Calculate heading error of current position to desired position */ - /* - * PX4 uses 1e7 scaled integers to represent global coordinates for max resolution, - * so they need to be scaled by 1e7 and converted to IEEE double precision floating point. - */ - float bearing = get_bearing_to_next_waypoint(pos->lat/1e7d, pos->lon/1e7d, sp->lat/1e7d, sp->lon/1e7d); + float bearing = get_bearing_to_next_waypoint(pos->lat, pos->lon, sp->lat, sp->lon); /* calculate heading error */ float yaw_err = att->yaw - bearing; |