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Code Issues Releases Activity

HomeLocation UAVOject on CC still has ECEF so make this part confitional.

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This commit is contained in:
Werner Backes 2012-07-11 00:40:15 +02:00
parent 0a7fa8dc5f
commit 19c0f6a88a
1 changed files with 10 additions and 0 deletions
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10
flight/Modules/GPS/GPS.c
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@ -309,7 +309,17 @@ static void setHomeLocation(GPSPositionData * gpsData)
// Compute home ECEF coordinates and the rotation matrix into NED
double LLA[3] = { ((double)home.Latitude) / 10e6, ((double)home.Longitude) / 10e6, ((double)home.Altitude) };
#if !defined(REVOLUTION)
double ECEF[3];
RneFromLLA(LLA, (float (*)[3])home.RNE);
LLA2ECEF(LLA, ECEF);
// TODO: Currently UAVTalk only supports float but these conversions use double
// need to find out if they require that precision and if so extend UAVTAlk
home.ECEF[0] = (int32_t) (ECEF[0] * 100);
home.ECEF[1] = (int32_t) (ECEF[1] * 100);
home.ECEF[2] = (int32_t) (ECEF[2] * 100);
#endif // !defined (Revolution)
// Compute magnetic flux direction at home location
if (WMM_GetMagVector(LLA[0], LLA[1], LLA[2], gps.Month, gps.Day, gps.Year, &home.Be[0]) >= 0)
{ // calculations appeared to go OK