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SITL: expose home location

This commit is contained in:
Andrew Tridgell 2017-05-02 19:35:57 +10:00
parent 57c0551260
commit 47b79eb72d
2 changed files with 5 additions and 0 deletions
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4
libraries/SITL/SIM_Aircraft.cpp
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@ -330,6 +330,10 @@ void Aircraft::fill_fdm(struct sitl_fdm &fdm)
smooth_sensors();
}
fdm.timestamp_us = time_now_us;
if (fdm.home.lat == 0 && fdm.home.lng == 0) {
// initialise home
fdm.home = home;
}
fdm.latitude = location.lat * 1.0e-7;
fdm.longitude = location.lng * 1.0e-7;
fdm.altitude = location.alt * 1.0e-2;

1
libraries/SITL/SITL.h
View File

@ -9,6 +9,7 @@ namespace SITL {
struct sitl_fdm {
// this is the structure passed between FDM models and the main SITL code
uint64_t timestamp_us;
Location home;
double latitude, longitude; // degrees
double altitude; // MSL
double heading; // degrees