From 95917545c299cc8ca757b7f839de508f155c9e65 Mon Sep 17 00:00:00 2001 From: Arthur Golubtsov Date: Thu, 21 May 2020 16:57:55 +0300 Subject: [PATCH] Drone: Update getting GPS frame values --- Drone/copter_client.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/Drone/copter_client.py b/Drone/copter_client.py index 4bb98fc..6a6426e 100644 --- a/Drone/copter_client.py +++ b/Drone/copter_client.py @@ -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