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geo std pressure constants and update usage

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This commit is contained in:
Daniel Agar
2018-04-19 08:57:38 +02:00
committed by Lorenz Meier
parent 02e319431b
commit bd72f3c521
6 changed files with 80 additions and 89 deletions
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l1/ecl_l1_pos_controller.cpp
+2 -4
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@@ -67,8 +67,7 @@ ECL_L1_Pos_Controller::navigate_waypoints(const Vector2f &vector_A, const Vector
float ltrack_vel = 0.0f;
/* get the direction between the last (visited) and next waypoint */
_target_bearing = get_bearing_to_next_waypoint(vector_curr_position(0), vector_curr_position(1), vector_B(0),
vector_B(1));
_target_bearing = get_bearing_to_next_waypoint((double)vector_curr_position(0), (double)vector_curr_position(1), (double)vector_B(0), (double)vector_B(1));
/* enforce a minimum ground speed of 0.1 m/s to avoid singularities */
float ground_speed = math::max(ground_speed_vector.length(), 0.1f);
@@ -196,8 +195,7 @@ ECL_L1_Pos_Controller::navigate_loiter(const Vector2f &vector_A, const Vector2f
float K_velocity = 2.0f * _L1_damping * omega;
/* update bearing to next waypoint */
_target_bearing = get_bearing_to_next_waypoint(vector_curr_position(0), vector_curr_position(1), vector_A(0),
vector_A(1));
_target_bearing = get_bearing_to_next_waypoint((double)vector_curr_position(0), (double)vector_curr_position(1), (double)vector_A(0), (double)vector_A(1));
/* ground speed, enforce minimum of 0.1 m/s to avoid singularities */
float ground_speed = math::max(ground_speed_vector.length(), 0.1f);