XSens bugfix lattitude-longitude issue

paparazzi · May 4, 2011 · 4ee65bc · 4ee65bc
1 parent 2bf0367
commit 4ee65bc
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/sw/airborne/modules/ins/ins_xsens.c b/sw/airborne/modules/ins/ins_xsens.c
@@ -291,8 +291,8 @@ void parse_ins_msg( void ) {
         /* Set the real UTM zone */
         gps.utm_pos.zone = (DegOfRad(gps.lla_pos.lon/1e7)+180) / 6 + 1;
 
-        lla_f.lat = (float) gps.lla_pos.lat / 1e7;
-        lla_f.lon = (float) gps.lla_pos.lat / 1e7;
+        lla_f.lat = ((float) gps.lla_pos.lat) / 1e7;
+        lla_f.lon = ((float) gps.lla_pos.lon) / 1e7;
         utm_f.zone = nav_utm_zone0;
         /* convert to utm */
         utm_of_lla_f(&utm_f, &lla_f);

diff --git a/sw/airborne/peripherals/hmc5843.c b/sw/airborne/peripherals/hmc5843.c
@@ -31,21 +31,21 @@ static void send_config(void)
   hmc5843.i2c_trans.buf[1] = 0x00 | (0x06 << 2);
   hmc5843.i2c_trans.len_w = 2;
   i2c_submit(&HMC5843_I2C_DEVICE,&hmc5843.i2c_trans);
-  while(hmc5843.i2c_trans.status == I2CTransPending);
+    while(hmc5843.i2c_trans.status == I2CTransPending);
 
   hmc5843.i2c_trans.type = I2CTransTx;
   hmc5843.i2c_trans.buf[0] = HMC5843_REG_CFGB;  // set to gain to 1 Gauss
   hmc5843.i2c_trans.buf[1] = 0x01<<5;
   hmc5843.i2c_trans.len_w = 2;
   i2c_submit(&HMC5843_I2C_DEVICE,&hmc5843.i2c_trans);
-  while(hmc5843.i2c_trans.status == I2CTransPending);
+    while(hmc5843.i2c_trans.status == I2CTransPending);
 
   hmc5843.i2c_trans.type = I2CTransTx;
   hmc5843.i2c_trans.buf[0] = HMC5843_REG_MODE;  // set to continuous mode
   hmc5843.i2c_trans.buf[1] = 0x00;
   hmc5843.i2c_trans.len_w = 2;
   i2c_submit(&HMC5843_I2C_DEVICE,&hmc5843.i2c_trans);
-  while(hmc5843.i2c_trans.status == I2CTransPending);
+    while(hmc5843.i2c_trans.status == I2CTransPending);
 
 }