Fix gps latitude and longitude

FS-Driverless · Aug 21, 2020 · 465e9e5 · 465e9e5
1 parent 66858ef
commit 465e9e5
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/AirSim/AirLib/include/common/EarthUtils.hpp b/AirSim/AirLib/include/common/EarthUtils.hpp
@@ -274,8 +274,8 @@ class EarthUtils {
  double sin_c = sin(c), cos_c = cos(c);
  double lat_rad, lon_rad;
  if (!Utils::isApproximatelyZero(c)) { //avoids large changes?
- lat_rad = asin(cos_c * home_geo_point.sin_lat + (y_rad * sin_c * home_geo_point.cos_lat) / c);
- lon_rad = (home_geo_point.lon_rad + atan2(x_rad * sin_c, c * home_geo_point.cos_lat * cos_c - y_rad * home_geo_point.sin_lat * sin_c));
+ lat_rad = asin(cos_c * home_geo_point.sin_lat + (x_rad * sin_c * home_geo_point.cos_lat) / c);
+ lon_rad = (home_geo_point.lon_rad + atan2(y_rad * sin_c, c * home_geo_point.cos_lat * cos_c - x_rad * home_geo_point.sin_lat * sin_c));
 
  return GeoPoint(Utils::radiansToDegrees(lat_rad), Utils::radiansToDegrees(lon_rad), home_geo_point.home_geo_point.altitude + v.z());
  } else