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author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-17 23:58:00 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-17 23:58:00 +0400 |
commit | c266124099fe67dcff5d5f3deeef37acebdc1695 (patch) | |
tree | 70abb548532ca6c02ba8111bbd265fde0963095e /src/modules | |
parent | 2f7303f2ddebedacaa92b287ee70ecea0e2d5baf (diff) | |
download | px4-firmware-c266124099fe67dcff5d5f3deeef37acebdc1695.tar.gz px4-firmware-c266124099fe67dcff5d5f3deeef37acebdc1695.tar.bz2 px4-firmware-c266124099fe67dcff5d5f3deeef37acebdc1695.zip |
vehicle_local_position: use double for ref_lat and ref_lon instead of int32, fix related apps
Diffstat (limited to 'src/modules')
-rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.cpp | 4 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_receiver.cpp | 4 | ||||
-rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 | ||||
-rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 4 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 4 | ||||
-rw-r--r-- | src/modules/uORB/topics/vehicle_local_position.h | 4 |
6 files changed, 12 insertions, 12 deletions
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index a4d5560c7..03e6021dc 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -341,8 +341,8 @@ void KalmanNav::updatePublications() _localPos.xy_global = true; _localPos.z_global = true; _localPos.ref_timestamp = _pubTimeStamp; - _localPos.ref_lat = getLatDegE7(); - _localPos.ref_lon = getLonDegE7(); + _localPos.ref_lat = lat * M_RAD_TO_DEG; + _localPos.ref_lon = lon * M_RAD_TO_DEG; _localPos.ref_alt = 0; _localPos.landed = landed; diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp index 624740237..d297be10a 100644 --- a/src/modules/mavlink/mavlink_receiver.cpp +++ b/src/modules/mavlink/mavlink_receiver.cpp @@ -670,8 +670,8 @@ handle_message(mavlink_message_t *msg) hil_local_pos.xy_global = true; hil_local_pos.z_global = true; hil_local_pos.ref_timestamp = timestamp; - hil_local_pos.ref_lat = hil_state.lat; - hil_local_pos.ref_lon = hil_state.lon; + hil_local_pos.ref_lat = hil_state.lat / 1e7d; + hil_local_pos.ref_lon = hil_state.lon / 1e7d; hil_local_pos.ref_alt = alt0; hil_local_pos.landed = landed; orb_publish(ORB_ID(vehicle_local_position), pub_hil_local_pos, &hil_local_pos); diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 3d05b37d8..138b9e46e 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -576,13 +576,13 @@ MulticopterPositionControl::task_main() was_armed = _control_mode.flag_armed; + update_ref(); + if (_control_mode.flag_control_altitude_enabled || _control_mode.flag_control_position_enabled || _control_mode.flag_control_climb_rate_enabled || _control_mode.flag_control_velocity_enabled) { - update_ref(); - _pos(0) = _local_pos.x; _pos(1) = _local_pos.y; _pos(2) = _local_pos.z; diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index f3b9b9d85..7be5ae979 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -556,8 +556,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) double lon = gps.lon * 1e-7; float alt = gps.alt * 1e-3; - local_pos.ref_lat = gps.lat; - local_pos.ref_lon = gps.lon; + local_pos.ref_lat = lat; + local_pos.ref_lon = lon; local_pos.ref_alt = alt + z_est[0]; local_pos.ref_timestamp = t; diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 2514bafee..24eed228b 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -1085,8 +1085,8 @@ int sdlog2_thread_main(int argc, char *argv[]) log_msg.body.log_LPOS.vx = buf.local_pos.vx; log_msg.body.log_LPOS.vy = buf.local_pos.vy; log_msg.body.log_LPOS.vz = buf.local_pos.vz; - log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat; - log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon; + log_msg.body.log_LPOS.ref_lat = buf.local_pos.ref_lat * 1e7; + log_msg.body.log_LPOS.ref_lon = buf.local_pos.ref_lon * 1e7; log_msg.body.log_LPOS.ref_alt = buf.local_pos.ref_alt; log_msg.body.log_LPOS.xy_flags = (buf.local_pos.xy_valid ? 1 : 0) | (buf.local_pos.v_xy_valid ? 2 : 0) | (buf.local_pos.xy_global ? 8 : 0); log_msg.body.log_LPOS.z_flags = (buf.local_pos.z_valid ? 1 : 0) | (buf.local_pos.v_z_valid ? 2 : 0) | (buf.local_pos.z_global ? 8 : 0); diff --git a/src/modules/uORB/topics/vehicle_local_position.h b/src/modules/uORB/topics/vehicle_local_position.h index d567f2e02..aeaf1e244 100644 --- a/src/modules/uORB/topics/vehicle_local_position.h +++ b/src/modules/uORB/topics/vehicle_local_position.h @@ -73,8 +73,8 @@ struct vehicle_local_position_s bool xy_global; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */ bool z_global; /**< true if z is valid and has valid global reference (ref_alt) */ uint64_t ref_timestamp; /**< Time when reference position was set */ - int32_t ref_lat; /**< Reference point latitude in 1E7 degrees */ - int32_t ref_lon; /**< Reference point longitude in 1E7 degrees */ + double ref_lat; /**< Reference point latitude in degrees */ + double ref_lon; /**< Reference point longitude in degrees */ float ref_alt; /**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */ bool landed; /**< true if vehicle is landed */ /* Distance to surface */ |