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ROSBuzz_MISTLab
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gps fix

This commit is contained in:
David St-Onge 2017-01-31 00:48:42 -05:00
parent 9dbd248cd3
commit 705845efa9
2 changed files with 3 additions and 1 deletions
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2
src/buzzuav_closures.cpp
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@ -97,7 +97,9 @@ void gps_from_rb(double range, double bearing, double out[3]) {
double lon = cur_pos[1]*M_PI/180.0; double lon = cur_pos[1]*M_PI/180.0;
bearing = bearing*M_PI/180.0; bearing = bearing*M_PI/180.0;
out[0] = asin(sin(lat) * cos(range/EARTH_RADIUS) + cos(lat) * sin(range/EARTH_RADIUS) * cos(bearing)); out[0] = asin(sin(lat) * cos(range/EARTH_RADIUS) + cos(lat) * sin(range/EARTH_RADIUS) * cos(bearing));
out[0] = out[0]*180.0/M_PI;
out[1] = lon + atan2(sin(bearing) * sin(range/EARTH_RADIUS) * cos(lat), cos(range/EARTH_RADIUS) - sin(lat)*sin(out[0])); out[1] = lon + atan2(sin(bearing) * sin(range/EARTH_RADIUS) * cos(lat), cos(range/EARTH_RADIUS) - sin(lat)*sin(out[0]));
out[1] = out[1]*180.0/M_PI;
out[2] = height; //constant height. out[2] = height; //constant height.
} }

2
src/test1.bzz
View File

@ -12,7 +12,7 @@ function updated_neigh(){
neighbors.broadcast(updated, update_no) neighbors.broadcast(updated, update_no)
} }
TARGET_ALTITUDE = 10.01 TARGET_ALTITUDE = 10.0
# Lennard-Jones parameters # Lennard-Jones parameters
TARGET = 50.0 #0.000001001 TARGET = 50.0 #0.000001001