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mavlink receiver: switch back to use local and not systemwide map projection

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Thomas Gubler
2014-05-06 16:59:09 +02:00
parent 32ba39c696
commit a6a2efb651
1 changed files with 3 additions and 2 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+3 -2
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@@ -778,7 +778,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
if (!_hil_local_proj_inited) {
_hil_local_proj_inited = true;
_hil_local_alt0 = hil_state.alt / 1000.0f;
hil_local_pos.ref_timestamp = map_projection_global_timestamp();
map_projection_init(&_hil_local_proj_ref, hil_state.lat, hil_state.lon);
hil_local_pos.ref_timestamp = timestamp;
hil_local_pos.ref_lat = lat;
hil_local_pos.ref_lon = lon;
hil_local_pos.ref_alt = _hil_local_alt0;
@@ -786,7 +787,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
float x;
float y;
map_projection_global_project(lat, lon, &x, &y);
map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y);
hil_local_pos.timestamp = timestamp;
hil_local_pos.xy_valid = true;
hil_local_pos.z_valid = true;