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Tracker: Change division to multiplication

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muramura 2024-04-20 19:12:33 +09:00 committed by Peter Barker
parent f2eb188f82
commit 38c6ae3a0e
1 changed files with 3 additions and 3 deletions
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6
AntennaTracker/tracking.cpp
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@ -62,10 +62,10 @@ void Tracker::update_bearing_and_distance()
// calculate altitude difference to vehicle using gps // calculate altitude difference to vehicle using gps
if (g.alt_source == ALT_SOURCE_GPS){ if (g.alt_source == ALT_SOURCE_GPS){
nav_status.alt_difference_gps = (vehicle.location_estimate.alt - current_loc.alt) / 100.0f; nav_status.alt_difference_gps = (vehicle.location_estimate.alt - current_loc.alt) * 0.01f;
} else { } else {
// g.alt_source == ALT_SOURCE_GPS_VEH_ONLY // g.alt_source == ALT_SOURCE_GPS_VEH_ONLY
nav_status.alt_difference_gps = vehicle.relative_alt / 100.0f; nav_status.alt_difference_gps = vehicle.relative_alt * 0.01f;
} }
// calculate pitch to vehicle // calculate pitch to vehicle
@ -140,7 +140,7 @@ void Tracker::tracking_update_position(const mavlink_global_position_int_t &msg)
vehicle.location.lng = msg.lon; vehicle.location.lng = msg.lon;
vehicle.location.alt = msg.alt/10; vehicle.location.alt = msg.alt/10;
vehicle.relative_alt = msg.relative_alt/10; vehicle.relative_alt = msg.relative_alt/10;
vehicle.vel = Vector3f(msg.vx/100.0f, msg.vy/100.0f, msg.vz/100.0f); vehicle.vel = Vector3f(msg.vx*0.01f, msg.vy*0.01f, msg.vz*0.01f);
vehicle.last_update_us = AP_HAL::micros(); vehicle.last_update_us = AP_HAL::micros();
vehicle.last_update_ms = AP_HAL::millis(); vehicle.last_update_ms = AP_HAL::millis();
#if HAL_LOGGING_ENABLED #if HAL_LOGGING_ENABLED