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ArduCopter: move scaleLongUp and scaleLongDown initialisation to init_home

This commit is contained in:
rmackay9 2012-12-17 16:54:03 +09:00
parent c8c13046e3
commit 889a19f790
1 changed files with 5 additions and 5 deletions
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10
ArduCopter/commands.pde
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@ -158,11 +158,6 @@ static void set_next_WP(struct Location *wp)
// Save new altitude so we can track it for climb_rate
set_new_altitude(next_WP.alt);
// this is used to offset the shrinking longitude as we go towards the poles
float rads = (fabs((float)next_WP.lat)/t7) * 0.0174532925;
scaleLongDown = cos(rads);
scaleLongUp = 1.0f/cos(rads);
// this is handy for the groundstation
// -----------------------------------
wp_distance = get_distance_cm(&current_loc, &next_WP);
@ -202,6 +197,11 @@ static void init_home()
if (g.log_bitmask & MASK_LOG_CMD)
Log_Write_Cmd(0, &home);
// update navigation scalers. used to offset the shrinking longitude as we go towards the poles
float rads = (fabs((float)next_WP.lat)/t7) * 0.0174532925;
scaleLongDown = cos(rads);
scaleLongUp = 1.0f/cos(rads);
// Save prev loc this makes the calcs look better before commands are loaded
prev_WP = home;