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geo: introduce global/local coordinate frame converter which uses the map projection but also converts altitude

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This commit is contained in:
Thomas Gubler
2014-05-06 14:43:23 +02:00
parent fc204a1890
commit 548c7f4aaf
3 changed files with 64 additions and 3 deletions
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src/modules/commander/commander.cpp
+2 -3
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@@ -1132,9 +1132,8 @@ int commander_thread_main(int argc, char *argv[])
&& (gps_position.eph_m < eph_epv_threshold)
&& (gps_position.epv_m < eph_epv_threshold)
&& hrt_elapsed_time((hrt_abstime*)&gps_position.timestamp_position) < 1e6) {
/* set reference for map _projection */
map_projection_global_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, hrt_absolute_time());
/* set reference for global coordinates <--> local coordiantes conversion and map_projection */
globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, (float)gps_position.alt * 1.0e-3f, hrt_absolute_time());
}
/* start RC input check */