From eac7b43f3e60f012b3a08eb138266200da35cf7e Mon Sep 17 00:00:00 2001 From: bazooka joe Date: Fri, 6 Dec 2019 13:39:36 +0200 Subject: [PATCH] Remove rescaling Lat and Lon on VEHICLE_CMD relevant to VEHICLE_CMD_DO_REPOSITION and VEHICLE_CMD_NAV_TAKEOFF its done on mavlink_receiver already --- src/modules/navigator/navigator_main.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index eaa3fa6298..47cf2d115e 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -268,8 +268,8 @@ Navigator::run() if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) { // Position change with optional altitude change - rep->current.lat = (cmd.param5 < 1000) ? cmd.param5 : cmd.param5 / (double)1e7; - rep->current.lon = (cmd.param6 < 1000) ? cmd.param6 : cmd.param6 / (double)1e7; + rep->current.lat = cmd.param5; + rep->current.lon = cmd.param6; if (PX4_ISFINITE(cmd.param7)) { rep->current.alt = cmd.param7; @@ -323,8 +323,8 @@ Navigator::run() } 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; + rep->current.lat = cmd.param5; + rep->current.lon = cmd.param6; } else { // If one of them is non-finite, reset both