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Use double for lat/lon in vehicle_global_position topic, use filed names lat, lon, alt, vel_n, vel_e, vel_d for global positions

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Anton Babushkin
2014-01-24 00:06:10 +01:00
parent b3d98e4a19
commit 58792c5ca6
16 changed files with 76 additions and 87 deletions
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src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
+1 -1
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@@ -299,7 +299,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
global_sp_updated_set_once = true;
psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
psi_track = get_bearing_to_next_waypoint(global_pos.lat, global_pos.lon,
(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
printf("next wp direction: %0.4f\n", (double)psi_track);