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px4-firmware
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Prevent some warnings for lat/lon double conversions

This commit is contained in:
Julian Oes 2013-12-27 11:14:08 +01:00
parent 32c7aea2a6
commit effa62937f
5 changed files with 13 additions and 13 deletions
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4
src/lib/geo/geo.c
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@ -513,8 +513,8 @@ __EXPORT bool inside_geofence(const struct vehicle_global_position_s *vehicle, c
unsigned int i, j, vertices = fence->count;
bool c = false;
double lat = vehicle->lat / 1e7;
double lon = vehicle->lon / 1e7;
double lat = vehicle->lat / 1e7d;
double lon = vehicle->lon / 1e7d;
// skip vertex 0 (return point)
for (i = 0, j = vertices - 1; i < vertices; j = i++)

4
src/modules/mavlink/orb_listener.c
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@ -416,8 +416,8 @@ l_global_position_setpoint(const struct listener *l)
if (gcs_link)
mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_0,
coordinate_frame,
(int32_t)(triplet.current.lat * 1e7f),
(int32_t)(triplet.current.lon * 1e7f),
(int32_t)(triplet.current.lat * 1e7d),
(int32_t)(triplet.current.lon * 1e7d),
(int32_t)(triplet.current.altitude * 1e3f),
(int16_t)(triplet.current.yaw * M_RAD_TO_DEG_F * 1e2f));
}

10
src/modules/navigator/navigator_main.cpp
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@ -723,7 +723,7 @@ Navigator::status()
{
warnx("Global position is %svalid", _global_pos.valid ? "" : "in");
if (_global_pos.valid) {
warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon / 1e7, _global_pos.lat / 1e7);
warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon / 1e7d, _global_pos.lat / 1e7d);
warnx("Altitude %5.5f meters, altitude above home %5.5f meters",
(double)_global_pos.alt, (double)_global_pos.relative_alt);
warnx("Ground velocity in m/s, x %5.5f, y %5.5f, z %5.5f",
@ -947,8 +947,8 @@ Navigator::start_loiter()
_mission_item_triplet.current_valid = true;
_mission_item_triplet.next_valid = false;
_mission_item_triplet.current.lat = (double)_global_pos.lat / 1e7;
_mission_item_triplet.current.lon = (double)_global_pos.lon / 1e7;
_mission_item_triplet.current.lat = (double)_global_pos.lat / 1e7d;
_mission_item_triplet.current.lon = (double)_global_pos.lon / 1e7d;
_mission_item_triplet.current.yaw = 0.0f;
get_loiter_item(&_mission_item_triplet.current);
@ -1162,11 +1162,11 @@ Navigator::mission_item_reached()
// if (coordinate_frame == (int)MAV_FRAME_GLOBAL) {
dist = get_distance_to_point_global_wgs84(_mission_item_triplet.current.lat, _mission_item_triplet.current.lon, _mission_item_triplet.current.altitude,
(double)_global_pos.lat / 1e7, (double)_global_pos.lon / 1e7, _global_pos.alt,
(double)_global_pos.lat / 1e7d, (double)_global_pos.lon / 1e7d, _global_pos.alt,
&dist_xy, &dist_z);
// warnx("1 lat: %2.2f, lon: %2.2f, alt: %2.2f", _mission_item_triplet.current.lat, _mission_item_triplet.current.lon, _mission_item_triplet.current.altitude);
// warnx("2 lat: %2.2f, lon: %2.2f, alt: %2.2f", (double)_global_pos.lat / 1e7, (double)_global_pos.lon / 1e7, _global_pos.alt);
// warnx("2 lat: %2.2f, lon: %2.2f, alt: %2.2f", (double)_global_pos.lat / 1e7d, (double)_global_pos.lon / 1e7d, _global_pos.alt);
// warnx("Dist: %4.4f", dist);

4
src/modules/position_estimator_inav/position_estimator_inav_main.c
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@ -614,8 +614,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (local_pos.xy_global) {
double est_lat, est_lon;
map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon);
global_pos.lat = (int32_t)(est_lat * 1e7);
global_pos.lon = (int32_t)(est_lon * 1e7);
global_pos.lat = (int32_t)(est_lat * 1e7d);
global_pos.lon = (int32_t)(est_lon * 1e7d);
global_pos.time_gps_usec = gps.time_gps_usec;
}

4
src/modules/sdlog2/sdlog2.c
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@ -1153,8 +1153,8 @@ int sdlog2_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(mission_item_triplet), subs.triplet_sub, &buf.triplet);
log_msg.msg_type = LOG_GPSP_MSG;
log_msg.body.log_GPSP.altitude_is_relative = buf.triplet.current.altitude_is_relative;
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7);
log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7);
log_msg.body.log_GPSP.lat = (int32_t)(buf.triplet.current.lat * 1e7d);
log_msg.body.log_GPSP.lon = (int32_t)(buf.triplet.current.lon * 1e7d);
log_msg.body.log_GPSP.altitude = buf.triplet.current.altitude;
log_msg.body.log_GPSP.yaw = buf.triplet.current.yaw;
log_msg.body.log_GPSP.nav_cmd = buf.triplet.current.nav_cmd;