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Remove rescaling Lat and Lon on VEHICLE_CMD

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relevant to VEHICLE_CMD_DO_REPOSITION and VEHICLE_CMD_NAV_TAKEOFF
its done on mavlink_receiver already
This commit is contained in:
bazooka joe
2019-12-06 13:39:36 +02:00
committed by Beat Küng
parent e10a4c5002
commit eac7b43f3e
1 changed files with 4 additions and 4 deletions
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8
src/modules/navigator/navigator_main.cpp
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@@ -268,8 +268,8 @@ Navigator::run()
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) { if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
// Position change with optional altitude change // Position change with optional altitude change
rep->current.lat = (cmd.param5 < 1000) ? cmd.param5 : cmd.param5 / (double)1e7; rep->current.lat = cmd.param5;
rep->current.lon = (cmd.param6 < 1000) ? cmd.param6 : cmd.param6 / (double)1e7; rep->current.lon = cmd.param6;
if (PX4_ISFINITE(cmd.param7)) { if (PX4_ISFINITE(cmd.param7)) {
rep->current.alt = cmd.param7; rep->current.alt = cmd.param7;
@@ -323,8 +323,8 @@ Navigator::run()
} }
if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) { if (PX4_ISFINITE(cmd.param5) && PX4_ISFINITE(cmd.param6)) {
rep->current.lat = (cmd.param5 < 1000) ? cmd.param5 : cmd.param5 / (double)1e7; rep->current.lat = cmd.param5;
rep->current.lon = (cmd.param6 < 1000) ? cmd.param6 : cmd.param6 / (double)1e7; rep->current.lon = cmd.param6;
} else { } else {
// If one of them is non-finite, reset both // If one of them is non-finite, reset both