This should (?) have finally fixed the GPS conversion code. The problem before is that it was messing up conversions for coordinates in the wrong "quadrant" relative to the homepos; the code before was not accounting for the angles given in azi1 correctly and had a sign error for the x and y displacements. Thanks for catching this @yeekyra.
Test Plan
We can now properly convert the coordinates for the competition flight boundary; the test I added failed with the old version of the code.
Summary
This should (?) have finally fixed the GPS conversion code. The problem before is that it was messing up conversions for coordinates in the wrong "quadrant" relative to the homepos; the code before was not accounting for the angles given in
azi1correctly and had a sign error for the x and y displacements. Thanks for catching this @yeekyra.Test Plan
We can now properly convert the coordinates for the competition flight boundary; the test I added failed with the old version of the code.