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towards a global map projection instance, WIP: need to remove local updates of the reference and add a global map update

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Thomas Gubler
2014-04-24 14:30:29 +02:00
parent 320c97c498
commit 3a898e54ad
6 changed files with 49 additions and 45 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+2 -2
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@@ -795,7 +795,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
if (!_hil_local_proj_inited) {
_hil_local_proj_inited = true;
_hil_local_alt0 = hil_state.alt / 1000.0f;
map_projection_init(&_hil_local_proj_ref, hil_state.lat, hil_state.lon);
// map_projection_init(&_hil_local_proj_ref, hil_state.lat, hil_state.lon); //XXX fix reference update
hil_local_pos.ref_timestamp = timestamp;
hil_local_pos.ref_lat = lat;
hil_local_pos.ref_lon = lon;
@@ -804,7 +804,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
float x;
float y;
map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y);
map_projection_project(lat, lon, &x, &y);
hil_local_pos.timestamp = timestamp;
hil_local_pos.xy_valid = true;
hil_local_pos.z_valid = true;