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replace geo _wrap_pi with matrix::wrap_pi

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This commit is contained in:
Daniel Agar
2018-06-12 09:00:52 +02:00
committed by Lorenz Meier
parent 518daa4a8d
commit d0bde9ab2a
14 changed files with 60 additions and 313 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+3 -1
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@@ -98,6 +98,8 @@
#include "mavlink_main.h"
#include "mavlink_command_sender.h"
using matrix::wrap_2pi;
MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_mavlink(parent),
_mission_manager(nullptr),
@@ -2066,7 +2068,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m
hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m
hil_gps.vel_ned_valid = true;
hil_gps.cog_rad = _wrap_pi(gps.cog * M_DEG_TO_RAD_F * 1e-2f);
hil_gps.cog_rad = ((gps.cog == 65535) ? NAN : wrap_2pi(math::radians(gps.cog * 1e-2f)));
hil_gps.fix_type = gps.fix_type;
hil_gps.satellites_used = gps.satellites_visible; //TODO: rename mavlink_hil_gps_t sats visible to used?