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Tools: fixed GPS pos error in Vicon script

This commit is contained in:
Andrew Tridgell 2019-08-30 13:16:51 +10:00
parent ca5ee2bfbc
commit 0e153313eb
1 changed files with 3 additions and 3 deletions
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6
Tools/Vicon/vicon_mavlink.py
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@ -125,7 +125,7 @@ def main_loop():
continue continue
# convert to NED meters # convert to NED meters
pos_ned = [pos_enu[1]*0.001, pos_enu[0]*0.001, -pos_enu[2]*0.001] pos_ned = [pos_enu[0]*0.001, pos_enu[1]*0.001, -pos_enu[2]*0.001]
# get orientation in euler, converting to ArduPilot conventions # get orientation in euler, converting to ArduPilot conventions
if args.send_zero: if args.send_zero:
@ -135,7 +135,7 @@ def main_loop():
q = Quaternion([quat[3], quat[0], quat[1], quat[2]]) q = Quaternion([quat[3], quat[0], quat[1], quat[2]])
euler = q.euler euler = q.euler
roll, pitch, yaw = euler[2], euler[1], euler[0] roll, pitch, yaw = euler[2], euler[1], euler[0]
yaw -= math.pi yaw -= math.pi*0.5
yaw_cd = int(mavextra.wrap_360(math.degrees(yaw)) * 100) yaw_cd = int(mavextra.wrap_360(math.degrees(yaw)) * 100)
if yaw_cd == 0: if yaw_cd == 0:
@ -163,7 +163,7 @@ def main_loop():
'''send GPS data at the specified rate, trying to align on the given period''' '''send GPS data at the specified rate, trying to align on the given period'''
if last_gps_pos is None: if last_gps_pos is None:
last_gps_pos = pos_ned last_gps_pos = pos_ned
gps_lat, gps_lon = mavextra.gps_offset(origin[0], origin[1], pos_ned[0], pos_ned[1]) gps_lat, gps_lon = mavextra.gps_offset(origin[0], origin[1], pos_ned[1], pos_ned[0])
gps_alt = origin[2] - pos_ned[2] gps_alt = origin[2] - pos_ned[2]
gps_dt = now - last_gps_send gps_dt = now - last_gps_send