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ArduCopter - bug fix to calc_XY_velocity (was using uninitialised last_longitutde and last_latitude for speed calculations)

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rmackay9 2012-03-18 12:08:45 +09:00
parent 6305312be7
commit 91b2b48fd8
1 changed files with 6 additions and 0 deletions
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6
ArduCopter/navigation.pde
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@ -50,6 +50,12 @@ static void calc_XY_velocity(){
// y_GPS_speed positve = Up // y_GPS_speed positve = Up
// x_GPS_speed positve = Right // x_GPS_speed positve = Right
// initialise last_longitude and last_latitude
if( last_longitude == 0 && last_latitude == 0 ) {
last_longitude = g_gps->longitude;
last_latitude = g_gps->latitude;
}
// this speed is ~ in cm because we are using 10^7 numbers from GPS // this speed is ~ in cm because we are using 10^7 numbers from GPS
float tmp = 1.0/dTnav; float tmp = 1.0/dTnav;