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Takeoff: Fix coordinate scaling (#4947)

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Lorenz Meier
2016-06-30 16:26:05 +02:00
committed by GitHub
parent 5dcc62d8f9
commit 0a40034159
1 changed files with 13 additions and 4 deletions
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src/modules/navigator/navigator_main.cpp
+13 -4
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@@ -436,8 +436,9 @@ Navigator::task_main()
} }
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) { if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
rep->current.lat = cmd.param5 / (double)1e7; rep->current.lat = (cmd.param5 < 1000) ? cmd.param5 : cmd.param5 / (double)1e7;
rep->current.lon = cmd.param6 / (double)1e7; rep->current.lon = (cmd.param6 < 1000) ? cmd.param6 : cmd.param6 / (double)1e7;
} else { } else {
rep->current.lat = get_global_position()->lat; rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon; rep->current.lon = get_global_position()->lon;
@@ -465,8 +466,16 @@ Navigator::task_main()
rep->current.loiter_direction = 1; rep->current.loiter_direction = 1;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF; rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
rep->current.yaw = cmd.param4; rep->current.yaw = cmd.param4;
rep->current.lat = cmd.param5 / (double)1e7;
rep->current.lon = cmd.param6 / (double)1e7; if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
rep->current.lat = (cmd.param5 < 1000) ? cmd.param5 : cmd.param5 / (double)1e7;
rep->current.lon = (cmd.param6 < 1000) ? cmd.param6 : cmd.param6 / (double)1e7;
} else {
// If one of them is non-finite, reset both
rep->current.lat = NAN;
rep->current.lon = NAN;
}
rep->current.alt = cmd.param7; rep->current.alt = cmd.param7;
rep->previous.valid = true; rep->previous.valid = true;