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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-17 22:20:41 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-17 22:20:41 +0400 |
| commit | 3d5f52678fa093a248d824828fcafe12ac2f8f15 (patch) | |
| tree | b95401fd45205dac6c8311de68ad0cdb101364a2 /src/modules/position_estimator_inav | |
| parent | 2284a7e985b174dab4b3c1666d9f019d9479a230 (diff) | |
| download | px4-firmware-3d5f52678fa093a248d824828fcafe12ac2f8f15.tar.gz px4-firmware-3d5f52678fa093a248d824828fcafe12ac2f8f15.tar.bz2 px4-firmware-3d5f52678fa093a248d824828fcafe12ac2f8f15.zip | |
Use updated map_projection_XXX functions in apps
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index a14354138..eddf6e94e 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -206,6 +206,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) bool ref_inited = false; hrt_abstime ref_init_start = 0; const hrt_abstime ref_init_delay = 1000000; // wait for 1s after 3D fix + struct map_projection_reference_s ref; + memset(&ref, 0, sizeof(ref)); uint16_t accel_updates = 0; uint16_t baro_updates = 0; @@ -560,7 +562,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) local_pos.ref_timestamp = t; /* initialize projection */ - map_projection_init(lat, lon); + map_projection_init(&ref, lat, lon); warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt); mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt); } @@ -569,7 +571,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (ref_inited) { /* project GPS lat lon to plane */ float gps_proj[2]; - map_projection_project(gps.lat * 1e-7, gps.lon * 1e-7, &(gps_proj[0]), &(gps_proj[1])); + map_projection_project(&ref, gps.lat * 1e-7, gps.lon * 1e-7, &(gps_proj[0]), &(gps_proj[1])); /* calculate correction for position */ corr_gps[0][0] = gps_proj[0] - x_est[0]; corr_gps[1][0] = gps_proj[1] - y_est[0]; @@ -836,7 +838,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (local_pos.xy_global) { double est_lat, est_lon; - map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon); + map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon); global_pos.lat = est_lat; global_pos.lon = est_lon; global_pos.time_gps_usec = gps.time_gps_usec; |