rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-03-01 18:29:16 +01:00
Code Issues Releases Activity

Fixes to the GPS LLA to NED translation

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
flight/Modules/Attitude/revolution/attitude.c
View File

@ -67,7 +67,7 @@
#include "CoordinateConversions.h" #include "CoordinateConversions.h"
// Private constants // Private constants
#define STACK_SIZE_BYTES 3540 #define STACK_SIZE_BYTES 2540
#define TASK_PRIORITY (tskIDLE_PRIORITY+3) #define TASK_PRIORITY (tskIDLE_PRIORITY+3)
#define FAILSAFE_TIMEOUT_MS 10 #define FAILSAFE_TIMEOUT_MS 10
@ -694,8 +694,8 @@ float T[3];
const float DEG2RAD = 3.141592653589793f / 180.0f; const float DEG2RAD = 3.141592653589793f / 180.0f;
static int32_t getNED(GPSPositionData * gpsPosition, float * NED) static int32_t getNED(GPSPositionData * gpsPosition, float * NED)
{ {
float dL[3] = {(gpsPosition->Latitude - homeLocation.Latitude) / 10.0e6 * DEG2RAD, float dL[3] = {(gpsPosition->Latitude - homeLocation.Latitude) / 10.0e6f * DEG2RAD,
(gpsPosition->Longitude - homeLocation.Longitude) / 10.0e6 * DEG2RAD, (gpsPosition->Longitude - homeLocation.Longitude) / 10.0e6f * DEG2RAD,
(gpsPosition->Altitude - homeLocation.Altitude)}; (gpsPosition->Altitude - homeLocation.Altitude)};
NED[0] = T[0] * dL[0]; NED[0] = T[0] * dL[0];