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AP_InertialNav: use standard LATLON_TO_CM, DEG_TO_RAD constants

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This commit is contained in:
Randy Mackay 2013-05-04 15:04:55 +09:00
parent 7d8822dde1
commit c20eac7a70
2 changed files with 4 additions and 6 deletions
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8
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -164,7 +164,7 @@ void AP_InertialNav::correct_with_gps(int32_t lon, int32_t lat, float dt)
}
// calculate distance from base location
x = (float)(lat - _base_lat) * AP_INERTIALNAV_LATLON_TO_CM;
x = (float)(lat - _base_lat) * LATLON_TO_CM;
y = (float)(lon - _base_lon) * _lon_to_m_scaling;
// ublox gps positions are delayed by 400ms
@ -190,7 +190,7 @@ int32_t AP_InertialNav::get_latitude() const
return 0;
}
return _base_lat + (int32_t)((_position_base.x + _position_correction.x)/AP_INERTIALNAV_LATLON_TO_CM);
return _base_lat + (int32_t)((_position_base.x + _position_correction.x)/LATLON_TO_CM);
}
// get accel based longitude
@ -213,7 +213,7 @@ void AP_InertialNav::set_current_position(int32_t lon, int32_t lat)
// set longitude->meters scaling
// this is used to offset the shrinking longitude as we go towards the poles
_lon_to_m_scaling = cosf((fabsf((float)lat)*1.0e-7f) * 0.0174532925f) * AP_INERTIALNAV_LATLON_TO_CM;
_lon_to_m_scaling = cosf((fabsf((float)lat)*1.0e-7f) * DEG_TO_RAD) * LATLON_TO_CM;
// reset corrections to base position to zero
_position_base.x = 0;
@ -237,7 +237,7 @@ float AP_InertialNav::get_latitude_diff() const
return 0;
}
return ((_position_base.x+_position_correction.x)/AP_INERTIALNAV_LATLON_TO_CM);
return ((_position_base.x+_position_correction.x)/LATLON_TO_CM);
}
// get accel based longitude

2
libraries/AP_InertialNav/AP_InertialNav.h
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@ -17,8 +17,6 @@
#define AP_INTERTIALNAV_GPS_LAG_IN_10HZ_INCREMENTS 4 // must not be larger than size of _hist_position_estimate_x and _hist_position_estimate_y
#define AP_INTERTIALNAV_GPS_TIMEOUT_MS 300 // timeout after which position error from GPS will fall to zero
#define AP_INERTIALNAV_LATLON_TO_CM 1.1113175f
/*
* AP_InertialNav is an attempt to use accelerometers to augment other sensors to improve altitud e position hold
*/