Revision: 9132
http://sourceforge.net/p/playerstage/svn/9132
Author: jpgr87
Date: 2013-11-10 19:29:13 +0000 (Sun, 10 Nov 2013)
Log Message:
-----------
Convert GPS course reported by garminnmea from NED frame to ENU frame
Modified Paths:
--------------
code/player/trunk/server/drivers/gps/garminnmea.cc
Modified: code/player/trunk/server/drivers/gps/garminnmea.cc
===================================================================
--- code/player/trunk/server/drivers/gps/garminnmea.cc 2013-11-10 19:16:50 UTC
(rev 9131)
+++ code/player/trunk/server/drivers/gps/garminnmea.cc 2013-11-10 19:29:13 UTC
(rev 9132)
@@ -1099,7 +1099,12 @@
}
else
{
- data.course = atof(field) * M_PI / 180.0; // degrees to radians
+ float course = atof(field) * M_PI / 180.0; // degrees to radians
+ course = (2.0 * M_PI - course) + M_PI/2.0; // Convert from NED to ENU
+ if (course > M_PI) {
+ course = course - 2.0 * M_PI; // Constrain betwen +/- pi
+ }
+ data.course = course;
}
// Date
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