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Fix map distortion due to high latitudes (#15449)

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Julian Kent 2020-08-19 09:55:15 +02:00 committed by GitHub
parent 7b4ae7c658
commit e2e72fd81e
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1 changed files with 11 additions and 3 deletions
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14
src/modules/navigator/rtl.cpp
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@ -90,7 +90,15 @@ void RTL::find_RTL_destination()
// get distance to home position
double dlat = home_landing_position.lat - global_position.lat;
double dlon = home_landing_position.lon - global_position.lon;
double min_dist_squared = dlat * dlat + dlon * dlon;
double lon_scale = cos(math::radians(global_position.lat));
auto coord_dist_sq = [lon_scale](double lat_diff, double lon_diff) -> double {
double lon_diff_scaled = lon_scale * matrix::wrap(lon_diff, -180., 180.);
return lat_diff * lat_diff + lon_diff_scaled * lon_diff_scaled;
};
double min_dist_squared = coord_dist_sq(dlat, dlon);
_destination.type = RTL_DESTINATION_HOME;
@ -102,7 +110,7 @@ void RTL::find_RTL_destination()
// compare home position to landing position to decide which is closer
dlat = mission_landing_lat - global_position.lat;
dlon = mission_landing_lon - global_position.lon;
double dist_squared = dlat * dlat + dlon * dlon;
double dist_squared = coord_dist_sq(dlat, dlon);
// set destination to mission landing if closest or in RTL_LAND or RTL_MISSION (so not in RTL_CLOSEST)
if (dist_squared < min_dist_squared || rtl_type() != RTL_CLOSEST) {
@ -145,7 +153,7 @@ void RTL::find_RTL_destination()
// TODO: take altitude into account for distance measurement
dlat = mission_safe_point.lat - global_position.lat;
dlon = mission_safe_point.lon - global_position.lon;
double dist_squared = dlat * dlat + dlon * dlon;
double dist_squared = coord_dist_sq(dlat, dlon);
if (dist_squared < min_dist_squared) {
closest_index = current_seq;