[paparazzi-commits] [paparazzi/paparazzi] c24b39: [modules][messages] mission: LLA waypoints in 1e7d...

[GitHub]

  Branch: refs/heads/mission_module_latlon_int
  Home:   https://github.com/paparazzi/paparazzi
  Commit: c24b395589e56ac5ee45b7e6ce83ac21d6b4d425
      
https://github.com/paparazzi/paparazzi/commit/c24b395589e56ac5ee45b7e6ce83ac21d6b4d425
  Author: Felix Ruess <address@hidden>
  Date:   2014-11-26 (Wed, 26 Nov 2014)

  Changed paths:
    M conf/messages.xml
    M sw/airborne/modules/mission/mission_common.c
    M sw/airborne/modules/mission/mission_common.h
    M sw/airborne/modules/mission/mission_fw_nav.c
    M sw/airborne/modules/mission/mission_rotorcraft_nav.c

  Log Message:
  -----------
  [modules][messages] mission: LLA waypoints in 1e7deg instead of float

A 32bit float has 23bits for the mantissa, which is a bit more than 7 digits.
Since you already use 3 digits to represent the part to the left of the decimal 
point, that leaves about 4 digits for the rest..
So in the worst case of 180deg you have a resolution of only ~3m!

With 1e7deg 32bit int you get ~1cm resolution.

addresses first part of #984 (at least for the rotorcraft version, fixedwing 
version still converts to LLA float in between...)


  Commit: f15cd031e8788113c34119bf5dd7f21dfe47b04f
      
https://github.com/paparazzi/paparazzi/commit/f15cd031e8788113c34119bf5dd7f21dfe47b04f
  Author: Felix Ruess <address@hidden>
  Date:   2014-11-26 (Wed, 26 Nov 2014)

  Changed paths:
    M sw/airborne/modules/mission/mission_rotorcraft_nav.c

  Log Message:
  -----------
  [modules] mission_rotorcraft: only check for ned_initialized_i


Compare: 
https://github.com/paparazzi/paparazzi/compare/bca4ea8210bc...f15cd031e878