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fw_pos_control_l1: put comments for lat/lon wrapping

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2016-10-15 11:21:30 +02:00
parent f80b4f8732
commit 8155044b40
1 changed files with 3 additions and 0 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -2301,6 +2301,9 @@ FixedwingPositionControl::task_main()
&& _global_pos.lat_lon_reset_counter != _pos_reset_counter) {
// add position reset delta to previous waypoint coordinate
// wrap latitude value by applying an arcsinus to the sine of the latitude value
// this makes sure that latitude is always in the correct range of [-pi/2, pi/2]
// wrap longitude to the range [-pi, pi]
_hdg_hold_prev_wp.lat += _global_pos.delta_lat_lon[0];
_hdg_hold_prev_wp.lat = M_RAD_TO_DEG * asin(sin(_hdg_hold_prev_wp.lat * M_DEG_TO_RAD));