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Location Lib. Potential fix for bad angle and distance calcs.

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last_lat changed to int32_t since it can be negative.
This commit is contained in:
Jason Short 2012-08-15 21:36:55 -07:00
parent 93c644fd0f
commit 555e26d5fa
1 changed files with 13 additions and 12 deletions
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3
libraries/AP_Math/location.cpp
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@ -29,7 +29,7 @@
static float longitude_scale(const struct Location *loc)
{
static uint32_t last_lat;
static int32_t last_lat;
static float scale = 1.0;
if (abs(last_lat - loc->lat) < 100000) {
// we are within 0.01 degrees (about 1km) of the
@ -38,6 +38,7 @@ static float longitude_scale(const struct Location *loc)
return scale;
}
scale = cos((fabs((float)loc->lat)/1.0e7) * 0.0174532925);
last_lat = loc->lat;
return scale;
}