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geo: Moved the map_projection_* functions and state into a self-contained C++ class

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This commit is contained in:
Thomas Debrunner
2021-12-06 14:30:14 +01:00
committed by Matthias Grob
parent fe23718e2c
commit 8db7a6225b
38 changed files with 324 additions and 329 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+1 -1
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@@ -197,7 +197,7 @@ void EstimatorInterface::setGpsData(const gps_message &gps)
if (collect_gps(gps)) {
float lpos_x = 0.0f;
float lpos_y = 0.0f;
map_projection_project(&_pos_ref, (gps.lat / 1.0e7), (gps.lon / 1.0e7), &lpos_x, &lpos_y);
_pos_ref.project((gps.lat / 1.0e7), (gps.lon / 1.0e7), lpos_x, lpos_y);
gps_sample_new.pos(0) = lpos_x;
gps_sample_new.pos(1) = lpos_y;