From 548c7f4aaf93bddeb05053cd4dede945fede22ef Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Tue, 6 May 2014 14:43:23 +0200 Subject: geo: introduce global/local coordinate frame converter which uses the map projection but also converts altitude --- src/modules/commander/commander.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) (limited to 'src/modules') diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 71de33bcc..98887a0e4 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -1132,9 +1132,8 @@ int commander_thread_main(int argc, char *argv[]) && (gps_position.eph_m < eph_epv_threshold) && (gps_position.epv_m < eph_epv_threshold) && hrt_elapsed_time((hrt_abstime*)&gps_position.timestamp_position) < 1e6) { - /* set reference for map _projection */ - map_projection_global_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, hrt_absolute_time()); - + /* set reference for global coordinates <--> local coordiantes conversion and map_projection */ + globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, (float)gps_position.alt * 1.0e-3f, hrt_absolute_time()); } /* start RC input check */ -- cgit v1.2.3