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

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;