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Code Issues Releases Activity

Fixes to the GPS LLA to NED translation

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This commit is contained in:
James Cotton 2012-03-01 04:05:52 -06:00
parent e32ab9342c
commit de7fc81795
1 changed files with 3 additions and 3 deletions
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6
flight/Modules/Attitude/revolution/attitude.c
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@ -67,7 +67,7 @@
#include "CoordinateConversions.h"
// Private constants
#define STACK_SIZE_BYTES 3540
#define STACK_SIZE_BYTES 2540
#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
#define FAILSAFE_TIMEOUT_MS 10
@ -694,8 +694,8 @@ float T[3];
const float DEG2RAD = 3.141592653589793f / 180.0f;
static int32_t getNED(GPSPositionData * gpsPosition, float * NED)
{
float dL[3] = {(gpsPosition->Latitude - homeLocation.Latitude) / 10.0e6 * DEG2RAD,
(gpsPosition->Longitude - homeLocation.Longitude) / 10.0e6 * DEG2RAD,
float dL[3] = {(gpsPosition->Latitude - homeLocation.Latitude) / 10.0e6f * DEG2RAD,
(gpsPosition->Longitude - homeLocation.Longitude) / 10.0e6f * DEG2RAD,
(gpsPosition->Altitude - homeLocation.Altitude)};
NED[0] = T[0] * dL[0];