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Added home position switch on GPS position - gives a more reliable home position setup

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Lorenz Meier
2014-04-21 12:28:11 +02:00
parent 8ae50a4ba5
commit 37b133e231
1 changed files with 3 additions and 3 deletions
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src/modules/commander/commander.cpp
+3 -3
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@@ -1092,9 +1092,9 @@ int commander_thread_main(int argc, char *argv[])
&& global_position.global_valid) { && global_position.global_valid) {
/* copy position data to uORB home message, store it locally as well */ /* copy position data to uORB home message, store it locally as well */
home.lat = global_position.lat; home.lat = gps_position.lat / (double)1e7;
home.lon = global_position.lon; home.lon = gps_position.lon / (double)1e7;
home.alt = global_position.alt; home.alt = gps_position.alt;
warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.alt); warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.alt); mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.alt);