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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-02-01 11:58:34 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-02-01 11:58:34 +0100 |
| commit | e8dd70e815033ec1a291ac5190dacfeb7d728dba (patch) | |
| tree | 105e06706d272ce497356313bf82cf3cc7be6e09 /src | |
| parent | 0be7bd3166969294bdd56b853b65248442219b80 (diff) | |
| download | px4-firmware-e8dd70e815033ec1a291ac5190dacfeb7d728dba.tar.gz px4-firmware-e8dd70e815033ec1a291ac5190dacfeb7d728dba.tar.bz2 px4-firmware-e8dd70e815033ec1a291ac5190dacfeb7d728dba.zip | |
fw: fix global position lat/lon read-in (lat/lon have changed to double lately)
Diffstat (limited to 'src')
| -rw-r--r-- | src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp | 14 |
1 files changed, 7 insertions, 7 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), |