yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

commander: Update after merge

Browse Source
This commit is contained in:
Lorenz Meier
2014-07-01 09:51:35 +02:00
parent 34c13df3dd
commit 801d1d3198
1 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/commander/commander.cpp
View File

@@ -826,8 +826,8 @@ int commander_thread_main(int argc, char *argv[])
int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
struct vehicle_gps_position_s gps_position;
memset(&gps_position, 0, sizeof(gps_position));
gps_position.eph_m = FLT_MAX;
gps_position.epv_m = FLT_MAX;
gps_position.eph = FLT_MAX;
gps_position.epv = FLT_MAX;
/* Subscribe to sensor topic */
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -1261,8 +1261,8 @@ int commander_thread_main(int argc, char *argv[])
/* Initialize map projection if gps is valid */
if (!map_projection_global_initialized()
&& (gps_position.eph_m < eph_epv_threshold)
&& (gps_position.epv_m < eph_epv_threshold)
&& (gps_position.eph < eph_epv_threshold)
&& (gps_position.epv < eph_epv_threshold)
&& hrt_elapsed_time((hrt_abstime*)&gps_position.timestamp_position) < 1e6) {
/* set reference for global coordinates <--> local coordiantes conversion and map_projection */
globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, (float)gps_position.alt * 1.0e-3f, hrt_absolute_time());