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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-01 13:10:52 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-01 13:10:52 +0100 |
| commit | c3e803c04f0d488ccd229f7567b94c13098633cf (patch) | |
| tree | f7ba1b9a46bc02083d076ad2fb054328e4b61be5 /src | |
| parent | 77c6231c8e323d2f7628ee432c9a4e37aa3e6815 (diff) | |
| parent | c2911cbecf06b18d581fd3e5407a1f525bd63d4b (diff) | |
| download | px4-firmware-c3e803c04f0d488ccd229f7567b94c13098633cf.tar.gz px4-firmware-c3e803c04f0d488ccd229f7567b94c13098633cf.tar.bz2 px4-firmware-c3e803c04f0d488ccd229f7567b94c13098633cf.zip | |
Merge branch 'beta' into acro2
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 14 | ||||
| -rw-r--r-- | src/modules/navigator/navigator_main.cpp | 2 |
2 files changed, 8 insertions, 8 deletions
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp index a62b53221..3ef1871a8 100644 --- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp +++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp @@ -785,26 +785,26 @@ FixedwingPositionControl::control_position(const math::Vector<2> ¤t_positi _tecs.set_speed_weight(_parameters.speed_weight); /* current waypoint (the one currently heading for) */ - math::Vector<2> next_wp(pos_sp_triplet.current.lat, pos_sp_triplet.current.lon); + math::Vector<2> next_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon); /* current waypoint (the one currently heading for) */ - math::Vector<2> curr_wp(pos_sp_triplet.current.lat, pos_sp_triplet.current.lon); + math::Vector<2> curr_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon); /* previous waypoint */ math::Vector<2> prev_wp; if (pos_sp_triplet.previous.valid) { - prev_wp(0) = pos_sp_triplet.previous.lat; - prev_wp(1) = pos_sp_triplet.previous.lon; + prev_wp(0) = (float)pos_sp_triplet.previous.lat; + prev_wp(1) = (float)pos_sp_triplet.previous.lon; } else { /* * No valid previous waypoint, go for the current wp. * This is automatically handled by the L1 library. */ - prev_wp(0) = pos_sp_triplet.current.lat; - prev_wp(1) = pos_sp_triplet.current.lon; + prev_wp(0) = (float)pos_sp_triplet.current.lat; + prev_wp(1) = (float)pos_sp_triplet.current.lon; } @@ -1263,7 +1263,7 @@ FixedwingPositionControl::task_main() // vehicle_baro_poll(); math::Vector<2> ground_speed(_global_pos.vel_n, _global_pos.vel_e); - math::Vector<2> current_position(_global_pos.lat / 1e7f, _global_pos.lon / 1e7f); + math::Vector<2> current_position((float)_global_pos.lat, (float)_global_pos.lon); /* * Attempt to control position, on success (= sensors present and not in manual mode), diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 6e4b5f0a0..114776327 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -1078,7 +1078,7 @@ Navigator::start_loiter() mavlink_log_info(_mavlink_fd, "[navigator] loiter at current altitude"); } - _pos_sp_triplet.current.type = SETPOINT_TYPE_NORMAL; + _pos_sp_triplet.current.type = SETPOINT_TYPE_LOITER; } _pos_sp_triplet.current.loiter_radius = _parameters.loiter_radius; |