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simple_offboard: quick fix for /navigate_global sometimes not working

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Oleg Kalachev
2019-07-22 15:09:27 +03:00
parent 06a79f8d66
commit b3e2158250
1 changed files with 3 additions and 1 deletions
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4
clever/src/simple_offboard.cpp
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@@ -543,7 +543,9 @@ bool serve(enum setpoint_type_t sp_type, float x, float y, float z, float vx, fl
if (sp_type == NAVIGATE_GLOBAL) {
// Calculate x and from lat and lot in request's frame
auto xy_in_req_frame = tf_buffer.transform(globalToLocal(lat, lon), frame_id);
auto pose_local = globalToLocal(lat, lon);
pose_local.header.stamp = stamp; // TODO: fix
auto xy_in_req_frame = tf_buffer.transform(pose_local, frame_id);
x = xy_in_req_frame.pose.position.x;
y = xy_in_req_frame.pose.position.y;
}