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Drone: Update getting GPS frame values

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This commit is contained in:
Arthur Golubtsov
2020-05-21 16:57:55 +03:00
parent 69bb8d7158
commit 95917545c2
1 changed files with 3 additions and 1 deletions
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4
Drone/copter_client.py
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@@ -159,7 +159,9 @@ class CopterClient(client.Client):
#lat_init = pos_init['lat2']
#lon_init = pos_init['lon2']
#logger.info("Initial lat: {} | lon: {}".format(lat_init, lon_init))
geo_delta = Earth.Inverse(telem.lat, telem.lon, self.config.gps_lat, self.config.gps_lon)
lat = float(self.config.gps_frame_lat)
lon = float(self.config.gps_frame_lon)
geo_delta = Earth.Inverse(telem.lat, telem.lon, lat, lon)
dx, dy = get_xy(geo_delta['s12'], geo_delta['azi2'])
gps_dx = telem.x + dx
gps_dy = telem.y + dy