Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: use AP_Math's longitude_scale 

bug fix to base scaling on home location instead of next_WP which may
not have been initialised
This commit is contained in:
Randy Mackay 2013-01-27 23:35:12 +09:00
parent 7729ec950e
commit 70371be4a1
1 changed files with 2 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduCopter/commands.pde
View File

@ -188,9 +188,8 @@ static void init_home()
Log_Write_Cmd(0, &home);
// update navigation scalers. used to offset the shrinking longitude as we go towards the poles
float rads = (fabsf((float)next_WP.lat)/t7) * 0.0174532925f;
scaleLongDown = cosf(rads);
scaleLongUp = 1.0f/cosf(rads);
scaleLongDown = longitude_scale(&home);
scaleLongUp = 1.0f/scaleLongDown;
// Save prev loc this makes the calcs look better before commands are loaded
prev_WP = home;