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Code Issues Releases Activity

conversions: fix return code for ECEF2LLA

Browse Source 
As pointed out by osnwt in the forum, the
criteria for success of this function was
wrong.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1456 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
stac 2010-08-29 14:51:07 +00:00 committed by stac
parent f202884ce8
commit 78befcba73
1 changed files with 3 additions and 3 deletions
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6
flight/Libraries/CoordinateConversions.c
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@ -60,6 +60,7 @@ uint16_t ECEF2LLA(double ECEF[3], double LLA[3])
double x=ECEF[0], y=ECEF[1], z=ECEF[2]; double x=ECEF[0], y=ECEF[1], z=ECEF[2];
double Lat, N, NplusH, delta, esLat; double Lat, N, NplusH, delta, esLat;
uint16_t iter; uint16_t iter;
#define MAX_ITER 100
LLA[1] = RAD2DEG*atan2(y,x); LLA[1] = RAD2DEG*atan2(y,x);
N = a; N = a;
@ -68,7 +69,7 @@ uint16_t ECEF2LLA(double ECEF[3], double LLA[3])
Lat = 1; Lat = 1;
iter=0; iter=0;
while (((delta > 1.0e-14)||(delta < -1.0e-14)) && (iter < 100)) while (((delta > 1.0e-14)||(delta < -1.0e-14)) && (iter < MAX_ITER))
{ {
delta = Lat - atan(z / (sqrt(x*x + y*y)*(1-(N*e*e/NplusH)))); delta = Lat - atan(z / (sqrt(x*x + y*y)*(1-(N*e*e/NplusH))));
Lat = Lat-delta; Lat = Lat-delta;
@ -81,8 +82,7 @@ uint16_t ECEF2LLA(double ECEF[3], double LLA[3])
LLA[0] = RAD2DEG*Lat; LLA[0] = RAD2DEG*Lat;
LLA[2] = NplusH - N; LLA[2] = NplusH - N;
if (iter==500) return (0); return (iter < MAX_ITER);
else return (1);
} }
// ****** find ECEF to NED rotation matrix ******** // ****** find ECEF to NED rotation matrix ********