diff options
Diffstat (limited to 'src/examples/fixedwing_control/main.c')
| -rw-r--r-- | src/examples/fixedwing_control/main.c | 6 |
1 files changed, 1 insertions, 5 deletions
diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c index b286e0007..067d77364 100644 --- a/src/examples/fixedwing_control/main.c +++ b/src/examples/fixedwing_control/main.c @@ -181,11 +181,7 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct v * Calculate heading error of current position to desired position */ - /* - * PX4 uses 1e7 scaled integers to represent global coordinates for max resolution, - * so they need to be scaled by 1e7 and converted to IEEE double precision floating point. - */ - float bearing = get_bearing_to_next_waypoint(pos->lat/1e7d, pos->lon/1e7d, sp->lat/1e7d, sp->lon/1e7d); + float bearing = get_bearing_to_next_waypoint(pos->lat, pos->lon, sp->lat, sp->lon); /* calculate heading error */ float yaw_err = att->yaw - bearing; |