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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-06 14:43:23 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-05-06 14:56:47 +0200 |
| commit | 548c7f4aaf93bddeb05053cd4dede945fede22ef (patch) | |
| tree | aabb6c251f08916ec1215536dfe3f533da72fe28 /src/modules/commander/commander.cpp | |
| parent | fc204a18902b5d623fff1e541a3212502295ed82 (diff) | |
| download | px4-firmware-548c7f4aaf93bddeb05053cd4dede945fede22ef.tar.gz px4-firmware-548c7f4aaf93bddeb05053cd4dede945fede22ef.tar.bz2 px4-firmware-548c7f4aaf93bddeb05053cd4dede945fede22ef.zip | |
geo: introduce global/local coordinate frame converter which uses the map projection but also converts altitude
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 71de33bcc..98887a0e4 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1132,9 +1132,8 @@ int commander_thread_main(int argc, char *argv[]) && (gps_position.eph_m < eph_epv_threshold) && (gps_position.epv_m < eph_epv_threshold) && hrt_elapsed_time((hrt_abstime*)&gps_position.timestamp_position) < 1e6) { - /* set reference for map _projection */ - map_projection_global_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, hrt_absolute_time()); - + /* set reference for global coordinates <--> local coordiantes conversion and map_projection */ + globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, (float)gps_position.alt * 1.0e-3f, hrt_absolute_time()); } /* start RC input check */ |