From 68e4a83f4444780964a8fb5565b2d9012d5b3104 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Wed, 25 May 2016 09:50:10 +0900 Subject: [PATCH] Tracker: fix formatting and gps based alt difference --- AntennaTracker/tracking.cpp | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/AntennaTracker/tracking.cpp b/AntennaTracker/tracking.cpp index a059eec651..6c5c709e08 100644 --- a/AntennaTracker/tracking.cpp +++ b/AntennaTracker/tracking.cpp @@ -58,15 +58,14 @@ void Tracker::update_bearing_and_distance() nav_status.distance = get_distance(current_loc, vehicle.location_estimate); // calculate altitude difference to vehicle using gps - nav_status.alt_difference_gps = vehicle.location.alt - current_loc.alt; + nav_status.alt_difference_gps = (vehicle.location.alt - current_loc.alt) / 100.0f; // calculate pitch to vehicle // To-Do: remove need for check of control_mode if (control_mode != SCAN && !nav_status.manual_control_pitch) { - if(g.alt_source == 0){ - nav_status.pitch = degrees(atan2f(nav_status.alt_difference_baro, nav_status.distance)); - } - else{ + if (g.alt_source == 0) { + nav_status.pitch = degrees(atan2f(nav_status.alt_difference_baro, nav_status.distance)); + } else { nav_status.pitch = degrees(atan2f(nav_status.alt_difference_gps, nav_status.distance)); } }