mavlink interface: update mapprojection usage

3 files changed, 22 insertions, 6 deletions

diff --git a/src/lib/geo/geo.c b/src/lib/geo/geo.c
index 53e601fad..438e354df 100644
--- a/src/lib/geo/geo.c
+++ b/src/lib/geo/geo.c
@@ -81,13 +81,13 @@ __EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t tim
 {
 	if (strcmp("navigator", getprogname() == 0)) {
 
-		return map_projection_init(&mp_ref, lat_0, lon_0, timestamp);
+		return map_projection_init_timestamped(&mp_ref, lat_0, lon_0, timestamp);
 	} else {
 		return -1;
 	}
 }
 
-__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
+__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
 {
 
 	ref->lat = lat_0 / 180.0 * M_PI;
@@ -102,9 +102,14 @@ __EXPORT int map_projection_init(struct map_projection_reference_s *ref, double
 	return 0;
 }
 
+__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
+{
+	map_projection_init_timestamped(ref, lat_0, lon_0, hrt_absolute_time());
+}
+
 __EXPORT int map_projection_global_reference(double *ref_lat, double *ref_lon)
 {
-	return map_projection_reference_s(&mp_ref, ref_lat, ref_lon);
+	return map_projection_reference(&mp_ref, ref_lat, ref_lon);
 }
 
 __EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat, double *ref_lon)
diff --git a/src/lib/geo/geo.h b/src/lib/geo/geo.h
index 990f79194..3d7ba050f 100644
--- a/src/lib/geo/geo.h
+++ b/src/lib/geo/geo.h
@@ -129,7 +129,18 @@ __EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t tim
  * @param lat in degrees (47.1234567°, not 471234567°)
  * @param lon in degrees (8.1234567°, not 81234567°)
  */
-__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp);
+__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref,
+		double lat_0, double lon_0, uint64_t timestamp);
+
+/**
+ * Initializes the map transformation given by the argument and sets the timestamp to now.
+ *
+ * Initializes the transformation between the geographic coordinate system and
+ * the azimuthal equidistant plane
+ * @param lat in degrees (47.1234567°, not 471234567°)
+ * @param lon in degrees (8.1234567°, not 81234567°)
+ */
+__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0);
 
 /**
  * Transforms a point in the geographic coordinate system to the local
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index b2c5e0079..db8f00e8f 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -766,7 +766,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		if (!_hil_local_proj_inited) {
 			_hil_local_proj_inited = true;
 			_hil_local_alt0 = hil_state.alt / 1000.0f;
-			hil_local_pos.ref_timestamp = map_projection_timestamp();
+			hil_local_pos.ref_timestamp = map_projection_global_timestamp();
 			hil_local_pos.ref_lat = lat;
 			hil_local_pos.ref_lon = lon;
 			hil_local_pos.ref_alt = _hil_local_alt0;
@@ -774,7 +774,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 
 		float x;
 		float y;
-		map_projection_project(lat, lon, &x, &y);
+		map_projection_global_project(lat, lon, &x, &y);
 		hil_local_pos.timestamp = timestamp;
 		hil_local_pos.xy_valid = true;
 		hil_local_pos.z_valid = true;