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AP Avoidance: stop using relative_lat member in Location object

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Peter Barker 2022-01-29 20:57:47 +11:00 committed by Peter Barker
parent 89cd6ab006
commit abc57740ee
1 changed files with 6 additions and 5 deletions
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11
libraries/AP_Avoidance/AP_Avoidance.cpp
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@ -593,11 +593,12 @@ void AP_Avoidance::handle_msg(const mavlink_message_t &msg)
// inform AP_Avoidance we have a new player // inform AP_Avoidance we have a new player
mavlink_global_position_int_t packet; mavlink_global_position_int_t packet;
mavlink_msg_global_position_int_decode(&msg, &packet); mavlink_msg_global_position_int_decode(&msg, &packet);
Location loc; const Location loc {
loc.lat = packet.lat; packet.lat,
loc.lng = packet.lon; packet.lon,
loc.alt = packet.alt / 10; // mm -> cm int32_t(packet.alt * 0.1), // mm -> cm
loc.relative_alt = false; Location::AltFrame::ABSOLUTE
};
Vector3f vel = Vector3f(packet.vx/100.0f, // cm to m Vector3f vel = Vector3f(packet.vx/100.0f, // cm to m
packet.vy/100.0f, packet.vy/100.0f,
packet.vz/100.0f); packet.vz/100.0f);