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FlightTask: remove global to local map

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Dennis Mannhart
2018-03-01 14:36:38 +01:00
committed by Lorenz Meier
parent 0efbbdc227
commit a401778038
4 changed files with 28 additions and 16 deletions
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8
src/lib/FlightTasks/tasks/FlightTask.cpp
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@@ -61,14 +61,6 @@ bool FlightTask::_evaluateVehiclePosition()
_velocity = matrix::Vector3f(&_sub_vehicle_local_position->get().vx);
_yaw = _sub_vehicle_local_position->get().yaw;
/* Check if reference has changed and update. */
if (_sub_vehicle_local_position->get().ref_timestamp != _time_stamp_reference) {
map_projection_init(&_reference_position, _sub_vehicle_local_position->get().ref_lat,
_sub_vehicle_local_position->get().ref_lon);
_reference_altitude = _sub_vehicle_local_position->get().ref_alt;
_time_stamp_reference = _sub_vehicle_local_position->get().ref_timestamp;
}
return true;
} else {