fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 00:53:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

fw_pos_control_l1: put comments for lat/lon wrapping

Browse Source 
Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-11-21 07:29:21 +01:00
parent f80b4f8732
commit 8155044b40
1 changed files with 3 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+3
View File
@@ -2301,6 +2301,9 @@ FixedwingPositionControl::task_main()
&& _global_pos.lat_lon_reset_counter != _pos_reset_counter) { && _global_pos.lat_lon_reset_counter != _pos_reset_counter) {
// add position reset delta to previous waypoint coordinate // 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 += _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)); _hdg_hold_prev_wp.lat = M_RAD_TO_DEG * asin(sin(_hdg_hold_prev_wp.lat * M_DEG_TO_RAD));