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Takeoff: Fix coordinate scaling (#4947)

This commit is contained in:
Lorenz Meier 2016-06-30 16:26:05 +02:00 committed by GitHub
parent 5dcc62d8f9
commit 0a40034159
1 changed files with 13 additions and 4 deletions
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17
src/modules/navigator/navigator_main.cpp
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@ -436,8 +436,9 @@ Navigator::task_main()
}
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
rep->current.lat = cmd.param5 / (double)1e7;
rep->current.lon = cmd.param6 / (double)1e7;
rep->current.lat = (cmd.param5 < 1000) ? cmd.param5 : cmd.param5 / (double)1e7;
rep->current.lon = (cmd.param6 < 1000) ? cmd.param6 : cmd.param6 / (double)1e7;
} else {
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon;
@ -465,8 +466,16 @@ Navigator::task_main()
rep->current.loiter_direction = 1;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
rep->current.yaw = cmd.param4;
rep->current.lat = cmd.param5 / (double)1e7;
rep->current.lon = cmd.param6 / (double)1e7;
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
rep->current.lat = (cmd.param5 < 1000) ? cmd.param5 : cmd.param5 / (double)1e7;
rep->current.lon = (cmd.param6 < 1000) ? cmd.param6 : cmd.param6 / (double)1e7;
} else {
// If one of them is non-finite, reset both
rep->current.lat = NAN;
rep->current.lon = NAN;
}
rep->current.alt = cmd.param7;
rep->previous.valid = true;