From 702f95d4c69999fd4b0eb84baeee16060047f5f9 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 23 Jun 2021 12:28:03 +1000 Subject: [PATCH] Sub: fixed longitude wrap --- ArduSub/position_vector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduSub/position_vector.cpp b/ArduSub/position_vector.cpp index ddf8df3abf..44b61aa556 100644 --- a/ArduSub/position_vector.cpp +++ b/ArduSub/position_vector.cpp @@ -15,7 +15,7 @@ Vector3f Sub::pv_location_to_vector(const Location& loc) origin.zero(); } float alt_above_origin = pv_alt_above_origin(loc.alt); // convert alt-relative-to-home to alt-relative-to-origin - return Vector3f((loc.lat-origin.lat) * LATLON_TO_CM, (loc.lng-origin.lng) * LATLON_TO_CM * scaleLongDown, alt_above_origin); + return Vector3f((loc.lat-origin.lat) * LATLON_TO_CM, Location::diff_longitude(loc.lng,origin.lng) * LATLON_TO_CM * scaleLongDown, alt_above_origin); } // pv_alt_above_origin - convert altitude above home to altitude above EKF origin