From fdb17c9776d573c46358684a6c6bd19afd2e1df2 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Wed, 2 Apr 2014 11:31:30 +0400 Subject: [PATCH] mc_pos_control: reproject local position setpoint on local reference updates --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 97357d07a9..21070e1e9b 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -473,8 +473,15 @@ void MulticopterPositionControl::update_ref() { if (_local_pos.ref_timestamp != _ref_timestamp) { + if (_ref_timestamp != 0) { + /* reproject local position setpoint to new reference */ + float dx, dy; + map_projection_project(&_ref_pos, _local_pos.ref_lat, _local_pos.ref_lon, &dx, &dy); + _pos_sp(0) -= dx; + _pos_sp(1) -= dy; + } + _ref_timestamp = _local_pos.ref_timestamp; - // TODO mode position setpoint in assisted modes map_projection_init(&_ref_pos, _local_pos.ref_lat, _local_pos.ref_lon); _ref_alt = _local_pos.ref_alt;