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

AP_Beacon: add floating point constant designators

This commit is contained in:
Peter Barker 2019-04-05 09:06:55 +11:00 committed by Tom Pittenger
parent e4b928be4d
commit ae8862f266
2 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_Beacon/AP_Beacon.cpp
View File

@ -140,8 +140,8 @@ bool AP_Beacon::get_origin(Location &origin_loc) const
// return origin // return origin
origin_loc = {}; origin_loc = {};
origin_loc.lat = origin_lat * 1.0e7; origin_loc.lat = origin_lat * 1.0e7f;
origin_loc.lng = origin_lon * 1.0e7; origin_loc.lng = origin_lon * 1.0e7f;
origin_loc.alt = origin_alt * 100; origin_loc.alt = origin_alt * 100;
return true; return true;

8
libraries/AP_Beacon/AP_Beacon_SITL.cpp
View File

@ -68,13 +68,13 @@ void AP_Beacon_SITL::update(void)
Location current_loc; Location current_loc;
current_loc.lat = sitl->state.latitude * 1.0e7f; current_loc.lat = sitl->state.latitude * 1.0e7f;
current_loc.lng = sitl->state.longitude * 1.0e7f; current_loc.lng = sitl->state.longitude * 1.0e7f;
current_loc.alt = sitl->state.altitude * 1.0e2f; current_loc.alt = sitl->state.altitude * 1.0e2;
// where the beacon system origin is located // where the beacon system origin is located
Location beacon_origin; Location beacon_origin;
beacon_origin.lat = get_beacon_origin_lat() * 1.0e7f; beacon_origin.lat = get_beacon_origin_lat() * 1.0e7f;
beacon_origin.lng = get_beacon_origin_lon() * 1.0e7f; beacon_origin.lng = get_beacon_origin_lon() * 1.0e7f;
beacon_origin.alt = get_beacon_origin_alt() * 1.0e2f; beacon_origin.alt = get_beacon_origin_alt() * 1.0e2;
// position of each beacon // position of each beacon
Location beacon_loc = beacon_origin; Location beacon_loc = beacon_origin;
@ -100,8 +100,8 @@ void AP_Beacon_SITL::update(void)
Vector2f beac_diff = location_diff(beacon_origin, beacon_loc); Vector2f beac_diff = location_diff(beacon_origin, beacon_loc);
Vector2f veh_diff = location_diff(beacon_origin, current_loc); Vector2f veh_diff = location_diff(beacon_origin, current_loc);
Vector3f veh_pos3d(veh_diff.x, veh_diff.y, (current_loc.alt - beacon_origin.alt)*1.0e-2); Vector3f veh_pos3d(veh_diff.x, veh_diff.y, (current_loc.alt - beacon_origin.alt)*1.0e-2f);
Vector3f beac_pos3d(beac_diff.x, beac_diff.y, (beacon_origin.alt - beacon_loc.alt)*1.0e-2); Vector3f beac_pos3d(beac_diff.x, beac_diff.y, (beacon_origin.alt - beacon_loc.alt)*1.0e-2f);
Vector3f beac_veh_offset = veh_pos3d - beac_pos3d; Vector3f beac_veh_offset = veh_pos3d - beac_pos3d;
set_beacon_position(beacon_id, beac_pos3d); set_beacon_position(beacon_id, beac_pos3d);