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SITL: fixed GPS heading in simulated UBlox

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longitude scale does not apply to velocity->heading conversions
This commit is contained in:
Andrew Tridgell 2012-06-22 08:37:48 +10:00
parent 20c1baf585
commit 426006d98f
1 changed files with 1 additions and 2 deletions
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3
libraries/Desktop/support/sitl_gps.cpp
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@ -144,8 +144,7 @@ void sitl_update_gps(double latitude, double longitude, float altitude,
#define sqr(x) ((x)*(x))
velned.speed_2d = sqrt(sqr(speedN)+sqr(speedE)) * 100;
velned.speed_3d = velned.speed_2d;
lon_scale = cos(ToRad(latitude));
velned.heading_2d = ToDeg(atan2(lon_scale*speedE, speedN)) * 100000.0;
velned.heading_2d = ToDeg(atan2(speedE, speedN)) * 100000.0;
if (velned.heading_2d < 0.0) {
velned.heading_2d += 360.0 * 100000.0;
}