eph and epv renaming, make this compile again

8 files changed, 30 insertions, 30 deletions

diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
index c61b6ff3f..ec679f1ae 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -398,7 +398,7 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 
 					hrt_abstime vel_t = 0;
 					bool vel_valid = false;
-					if (ekf_params.acc_comp == 1 && gps.fix_type >= 3 && gps.eph_m < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) {
+					if (ekf_params.acc_comp == 1 && gps.fix_type >= 3 && gps.eph < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) {
 						vel_valid = true;
 						if (gps_updated) {
 							vel_t = gps.timestamp_velocity;
@@ -407,7 +407,7 @@ const unsigned int loop_interval_alarm = 6500;	// loop interval in microseconds
 							vel(2) = gps.vel_d_m_s;
 						}
 
-					} else if (ekf_params.acc_comp == 2 && gps.eph_m < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
+					} else if (ekf_params.acc_comp == 2 && gps.eph < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
 						vel_valid = true;
 						if (global_pos_updated) {
 							vel_t = global_pos.timestamp;
diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
index e5435e843..f47531b26 100644
--- a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
@@ -1247,7 +1247,6 @@ FixedwingEstimator::task_main()
 
 				/* local pos alt is negative, change sign and add alt offset */
 				_global_pos.alt = _local_pos.ref_alt + (-_local_pos.z);
-				_global_pos.rel_alt = (-_local_pos.z);
 
 				if (_local_pos.v_z_valid) {
 					_global_pos.vel_d = _local_pos.vz;
@@ -1255,8 +1254,8 @@ FixedwingEstimator::task_main()
 
 				_global_pos.yaw = _local_pos.yaw;
 
-				_global_pos.eph = _gps.eph_m;
-				_global_pos.epv = _gps.epv_m;
+				_global_pos.eph = _gps.eph;
+				_global_pos.epv = _gps.epv;
 
 				_global_pos.timestamp = _local_pos.timestamp;
 
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 27b1af046..67ded1230 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -541,8 +541,8 @@ protected:
 						     gps->lat,
 						     gps->lon,
 						     gps->alt,
-						     cm_uint16_from_m_float(gps->eph_m),
-						     cm_uint16_from_m_float(gps->epv_m),
+						     cm_uint16_from_m_float(gps->eph),
+						     cm_uint16_from_m_float(gps->epv),
 						     gps->vel_m_s * 100.0f,
 						     _wrap_2pi(gps->cog_rad) * M_RAD_TO_DEG_F * 1e2f,
 						     gps->satellites_visible);
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 33a4fef12..95314d56f 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -661,12 +661,12 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
 	hil_gps.lat = gps.lat;
 	hil_gps.lon = gps.lon;
 	hil_gps.alt = gps.alt;
-	hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
-	hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
+	hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m
+	hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m
 
 	hil_gps.timestamp_variance = timestamp;
 	hil_gps.s_variance_m_s = 5.0f;
-	hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
+	hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph;
 
 	hil_gps.timestamp_velocity = timestamp;
 	hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index c3fc4e939..d45446e5f 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -743,16 +743,17 @@ Navigator::start()
 void
 Navigator::status()
 {
-	warnx("Global position is %svalid", _global_pos.global_valid ? "" : "in");
-
-	if (_global_pos.global_valid) {
-		warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat);
-		warnx("Altitude %5.5f meters, altitude above home %5.5f meters",
-		      (double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt));
-		warnx("Ground velocity in m/s, N %5.5f, E %5.5f, D %5.5f",
-		      (double)_global_pos.vel_n, (double)_global_pos.vel_e, (double)_global_pos.vel_d);
-		warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F));
-	}
+	/* TODO: add this again */
+	// warnx("Global position is %svalid", _global_pos_valid ? "" : "in");
+
+	// if (_global_pos.global_valid) {
+	// 	warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat);
+	// 	warnx("Altitude %5.5f meters, altitude above home %5.5f meters",
+	// 	      (double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt));
+	// 	warnx("Ground velocity in m/s, N %5.5f, E %5.5f, D %5.5f",
+	// 	      (double)_global_pos.vel_n, (double)_global_pos.vel_e, (double)_global_pos.vel_d);
+	// 	warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F));
+	// }
 
 	if (_fence_valid) {
 		warnx("Geofence is valid");
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 368424853..54c8a7d17 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -592,13 +592,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 				/* hysteresis for GPS quality */
 				if (gps_valid) {
-					if (gps.eph_m > max_eph_epv * 1.5f || gps.epv_m > max_eph_epv * 1.5f || gps.fix_type < 3) {
+					if (gps.eph > max_eph_epv * 1.5f || gps.epv > max_eph_epv * 1.5f || gps.fix_type < 3) {
 						gps_valid = false;
 						mavlink_log_info(mavlink_fd, "[inav] GPS signal lost");
 					}
 
 				} else {
-					if (gps.eph_m < max_eph_epv && gps.epv_m < max_eph_epv && gps.fix_type >= 3) {
+					if (gps.eph < max_eph_epv && gps.epv < max_eph_epv && gps.fix_type >= 3) {
 						gps_valid = true;
 						reset_est = true;
 						mavlink_log_info(mavlink_fd, "[inav] GPS signal found");
@@ -673,8 +673,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 							corr_gps[2][1] = 0.0f;
 						}
 
-						w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph_m);
-						w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv_m);
+						w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph);
+						w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv);
 					}
 
 				} else {
@@ -951,8 +951,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				global_pos.yaw = local_pos.yaw;
 
 				// TODO implement dead-reckoning
-				global_pos.eph = gps.eph_m;
-				global_pos.epv = gps.epv_m;
+				global_pos.eph = gps.eph;
+				global_pos.epv = gps.epv;
 
 				if (vehicle_global_position_pub < 0) {
 					vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index b74d4183b..5d49cc4c9 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -972,8 +972,8 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.msg_type = LOG_GPS_MSG;
 			log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
 			log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
-			log_msg.body.log_GPS.eph = buf_gps_pos.eph_m;
-			log_msg.body.log_GPS.epv = buf_gps_pos.epv_m;
+			log_msg.body.log_GPS.eph = buf_gps_pos.eph;
+			log_msg.body.log_GPS.epv = buf_gps_pos.epv;
 			log_msg.body.log_GPS.lat = buf_gps_pos.lat;
 			log_msg.body.log_GPS.lon = buf_gps_pos.lon;
 			log_msg.body.log_GPS.alt = buf_gps_pos.alt * 0.001f;
diff --git a/src/modules/uORB/topics/vehicle_gps_position.h b/src/modules/uORB/topics/vehicle_gps_position.h
index 794c3f8bc..a75810278 100644
--- a/src/modules/uORB/topics/vehicle_gps_position.h
+++ b/src/modules/uORB/topics/vehicle_gps_position.h
@@ -65,8 +65,8 @@ struct vehicle_gps_position_s {
 	float c_variance_rad;				/**< course accuracy estimate rad */
 	uint8_t fix_type; 				/**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.   */
 
-	float eph_m;					/**< GPS HDOP horizontal dilution of position in m */
-	float epv_m;					/**< GPS VDOP horizontal dilution of position in m */
+	float eph;					/**< GPS HDOP horizontal dilution of position in m */
+	float epv;					/**< GPS VDOP horizontal dilution of position in m */
 
 	uint64_t timestamp_velocity;			/**< Timestamp for velocity informations */
 	float vel_m_s;					/**< GPS ground speed (m/s) */