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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-24 00:06:10 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-24 00:06:10 +0100 |
| commit | 58792c5ca6e42bc251dd3c92b0e79217ff5d5403 (patch) | |
| tree | ea46289f1159857c26ea40f71674a3bbb06cec8e /src/modules/fw_att_control | |
| 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/modules/fw_att_control')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index e49b3c140..dc2196de6 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -704,9 +704,9 @@ FixedwingAttitudeControl::task_main() float speed_body_v = 0.0f; float speed_body_w = 0.0f; if(_att.R_valid) { - speed_body_u = _att.R[0][0] * _global_pos.vx + _att.R[1][0] * _global_pos.vy + _att.R[2][0] * _global_pos.vz; - speed_body_v = _att.R[0][1] * _global_pos.vx + _att.R[1][1] * _global_pos.vy + _att.R[2][1] * _global_pos.vz; - speed_body_w = _att.R[0][2] * _global_pos.vx + _att.R[1][2] * _global_pos.vy + _att.R[2][2] * _global_pos.vz; + speed_body_u = _att.R[0][0] * _global_pos.vel_n + _att.R[1][0] * _global_pos.vel_e + _att.R[2][0] * _global_pos.vel_d; + speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d; + speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d; } else { warnx("Did not get a valid R\n"); } |