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-rw-r--r--src/drivers/frsky_telemetry/frsky_data.c6
-rw-r--r--src/examples/fixedwing_control/main.c6
-rw-r--r--src/modules/att_pos_estimator_ekf/KalmanNav.cpp7
-rwxr-xr-xsrc/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp6
-rw-r--r--src/modules/commander/commander.cpp10
-rw-r--r--src/modules/fixedwing_backside/fixedwing.cpp8
-rw-r--r--src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c2
-rw-r--r--src/modules/fw_att_control/fw_att_control_main.cpp6
-rw-r--r--src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp2
-rw-r--r--src/modules/mavlink/mavlink_receiver.cpp6
-rw-r--r--src/modules/mavlink/orb_listener.c21
-rw-r--r--src/modules/navigator/navigator_main.cpp40
-rw-r--r--src/modules/position_estimator_inav/position_estimator_inav_main.c14
-rw-r--r--src/modules/sdlog2/sdlog2.c10
-rw-r--r--src/modules/uORB/topics/home_position.h2
-rw-r--r--src/modules/uORB/topics/vehicle_global_position.h17
16 files changed, 76 insertions, 87 deletions
diff --git a/src/drivers/frsky_telemetry/frsky_data.c b/src/drivers/frsky_telemetry/frsky_data.c
index 63b2d2d29..e201ecbb3 100644
--- a/src/drivers/frsky_telemetry/frsky_data.c
+++ b/src/drivers/frsky_telemetry/frsky_data.c
@@ -230,11 +230,11 @@ void frsky_send_frame2(int uart)
struct tm *tm_gps = gmtime(&time_gps);
course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
- lat = frsky_format_gps(abs(global_pos.lat) / 10000000.0f);
+ lat = frsky_format_gps(abs(global_pos.lat));
lat_ns = (global_pos.lat < 0) ? 'S' : 'N';
- lon = frsky_format_gps(abs(global_pos.lon) / 10000000.0f);
+ lon = frsky_format_gps(abs(global_pos.lon));
lon_ew = (global_pos.lon < 0) ? 'W' : 'E';
- speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy)
+ speed = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e)
* 25.0f / 46.0f;
alt = global_pos.alt;
sec = tm_gps->tm_sec;
diff --git a/src/examples/fixedwing_control/main.c b/src/examples/fixedwing_control/main.c
index b286e0007..067d77364 100644
--- a/src/examples/fixedwing_control/main.c
+++ b/src/examples/fixedwing_control/main.c
@@ -181,11 +181,7 @@ void control_heading(const struct vehicle_global_position_s *pos, const struct v
* Calculate heading error of current position to desired position
*/
- /*
- * PX4 uses 1e7 scaled integers to represent global coordinates for max resolution,
- * so they need to be scaled by 1e7 and converted to IEEE double precision floating point.
- */
- float bearing = get_bearing_to_next_waypoint(pos->lat/1e7d, pos->lon/1e7d, sp->lat/1e7d, sp->lon/1e7d);
+ float bearing = get_bearing_to_next_waypoint(pos->lat, pos->lon, sp->lat, sp->lon);
/* calculate heading error */
float yaw_err = att->yaw - bearing;
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
index aca3fe7b6..8e88130e1 100644
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
@@ -318,10 +318,9 @@ void KalmanNav::updatePublications()
_pos.lat = getLatDegE7();
_pos.lon = getLonDegE7();
_pos.alt = float(alt);
- _pos.relative_alt = float(alt); // TODO, make relative
- _pos.vx = vN;
- _pos.vy = vE;
- _pos.vz = vD;
+ _pos.vel_n = vN;
+ _pos.vel_e = vE;
+ _pos.vel_d = vD;
_pos.yaw = psi;
// local position publication
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 6a1bec153..66ec20b95 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
@@ -414,9 +414,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
vel_valid = true;
if (global_pos_updated) {
vel_t = global_pos.timestamp;
- vel(0) = global_pos.vx;
- vel(1) = global_pos.vy;
- vel(2) = global_pos.vz;
+ vel(0) = global_pos.vel_n;
+ vel(1) = global_pos.vel_e;
+ vel(2) = global_pos.vel_d;
}
}
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 47053838c..d51bb63ff 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1009,12 +1009,12 @@ int commander_thread_main(int argc, char *argv[])
/* copy position data to uORB home message, store it locally as well */
- home.lat = (double)global_position.lat / 1e7d;
- home.lon = (double)global_position.lon / 1e7d;
- home.altitude = (float)global_position.alt;
+ home.lat = global_position.lat;
+ home.lon = global_position.lon;
+ home.alt = global_position.alt;
- warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.altitude);
- mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.altitude);
+ warnx("home: lat = %.7f, lon = %.7f, alt = %.4f ", home.lat, home.lon, (double)home.alt);
+ mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.4f", home.lat, home.lon, (double)home.alt);
/* announce new home position */
if (home_pub > 0) {
diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp
index 108e9896d..f7c0b6148 100644
--- a/src/modules/fixedwing_backside/fixedwing.cpp
+++ b/src/modules/fixedwing_backside/fixedwing.cpp
@@ -174,9 +174,9 @@ void BlockMultiModeBacksideAutopilot::update()
// of control we will limit the velocity feedback between
// the min/max velocity
float v = _vLimit.update(sqrtf(
- _pos.vx * _pos.vx +
+ _pos.vel_n * _pos.vel_n +
_pos.vy * _pos.vy +
- _pos.vz * _pos.vz));
+ _pos.vel_d * _pos.vel_d));
// limit velocity command between min/max velocity
float vCmd = _vLimit.update(_vCmd.get());
@@ -236,9 +236,9 @@ void BlockMultiModeBacksideAutopilot::update()
// for the purpose of control we will limit the velocity feedback between
// the min/max velocity
float v = _vLimit.update(sqrtf(
- _pos.vx * _pos.vx +
+ _pos.vel_n * _pos.vel_n +
_pos.vy * _pos.vy +
- _pos.vz * _pos.vz));
+ _pos.vel_d * _pos.vel_d));
// pitch channel -> rate of climb
// TODO, might want to put a gain on this, otherwise commanding
diff --git a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
index 73df3fb9e..888dd0942 100644
--- a/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
+++ b/src/modules/fixedwing_pos_control/fixedwing_pos_control_main.c
@@ -299,7 +299,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_global_position_setpoint), global_setpoint_sub, &global_setpoint);
start_pos = global_pos; //for now using the current position as the startpoint (= approx. last waypoint because the setpoint switch occurs at the waypoint)
global_sp_updated_set_once = true;
- psi_track = get_bearing_to_next_waypoint((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
+ psi_track = get_bearing_to_next_waypoint(global_pos.lat, global_pos.lon,
(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
printf("next wp direction: %0.4f\n", (double)psi_track);
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index e49b3c140..dc2196de6 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -704,9 +704,9 @@ FixedwingAttitudeControl::task_main()
float speed_body_v = 0.0f;
float speed_body_w = 0.0f;
if(_att.R_valid) {
- speed_body_u = _att.R[0][0] * _global_pos.vx + _att.R[1][0] * _global_pos.vy + _att.R[2][0] * _global_pos.vz;
- speed_body_v = _att.R[0][1] * _global_pos.vx + _att.R[1][1] * _global_pos.vy + _att.R[2][1] * _global_pos.vz;
- speed_body_w = _att.R[0][2] * _global_pos.vx + _att.R[1][2] * _global_pos.vy + _att.R[2][2] * _global_pos.vz;
+ speed_body_u = _att.R[0][0] * _global_pos.vel_n + _att.R[1][0] * _global_pos.vel_e + _att.R[2][0] * _global_pos.vel_d;
+ speed_body_v = _att.R[0][1] * _global_pos.vel_n + _att.R[1][1] * _global_pos.vel_e + _att.R[2][1] * _global_pos.vel_d;
+ speed_body_w = _att.R[0][2] * _global_pos.vel_n + _att.R[1][2] * _global_pos.vel_e + _att.R[2][2] * _global_pos.vel_d;
} else {
warnx("Did not get a valid R\n");
}
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index f3d688646..a62b53221 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -1262,7 +1262,7 @@ FixedwingPositionControl::task_main()
vehicle_airspeed_poll();
// vehicle_baro_poll();
- math::Vector<2> ground_speed(_global_pos.vx, _global_pos.vy);
+ math::Vector<2> ground_speed(_global_pos.vel_n, _global_pos.vel_e);
math::Vector<2> current_position(_global_pos.lat / 1e7f, _global_pos.lon / 1e7f);
/*
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 4f9c718d2..7c23488d7 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -638,9 +638,9 @@ handle_message(mavlink_message_t *msg)
hil_global_pos.lat = hil_state.lat;
hil_global_pos.lon = hil_state.lon;
hil_global_pos.alt = hil_state.alt / 1000.0f;
- hil_global_pos.vx = hil_state.vx / 100.0f;
- hil_global_pos.vy = hil_state.vy / 100.0f;
- hil_global_pos.vz = hil_state.vz / 100.0f;
+ hil_global_pos.vel_n = hil_state.vx / 100.0f;
+ hil_global_pos.vel_e = hil_state.vy / 100.0f;
+ hil_global_pos.vel_d = hil_state.vz / 100.0f;
} else {
pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c
index 0b8ac6d3d..7f6237535 100644
--- a/src/modules/mavlink/orb_listener.c
+++ b/src/modules/mavlink/orb_listener.c
@@ -67,6 +67,7 @@ extern bool gcs_link;
struct vehicle_global_position_s global_pos;
struct vehicle_local_position_s local_pos;
+struct home_position_s home;
struct navigation_capabilities_s nav_cap;
struct vehicle_status_s v_status;
struct vehicle_control_mode_s control_mode;
@@ -247,10 +248,10 @@ l_vehicle_attitude(const struct listener *l)
hrt_abstime t = hrt_absolute_time();
if (t >= last_sent_vfr + 100000) {
last_sent_vfr = t;
- float groundspeed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
+ float groundspeed = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e);
uint16_t heading = _wrap_2pi(att.yaw) * M_RAD_TO_DEG_F;
float throttle = armed.armed ? actuators_0.control[3] * 100.0f : 0.0f;
- mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vz);
+ mavlink_msg_vfr_hud_send(MAVLINK_COMM_0, airspeed.true_airspeed_m_s, groundspeed, heading, throttle, global_pos.alt, -global_pos.vel_d);
}
/* send quaternion values if it exists */
@@ -380,13 +381,13 @@ l_global_position(const struct listener *l)
mavlink_msg_global_position_int_send(MAVLINK_COMM_0,
global_pos.timestamp / 1000,
- global_pos.lat,
- global_pos.lon,
+ global_pos.lat * 1e7,
+ global_pos.lon * 1e7,
global_pos.alt * 1000.0f,
- global_pos.relative_alt * 1000.0f,
- global_pos.vx * 100.0f,
- global_pos.vy * 100.0f,
- global_pos.vz * 100.0f,
+ (global_pos.alt - home.alt) * 1000.0f,
+ global_pos.vel_n * 100.0f,
+ global_pos.vel_e * 100.0f,
+ global_pos.vel_d * 100.0f,
_wrap_2pi(global_pos.yaw) * M_RAD_TO_DEG_F * 100.0f);
}
@@ -657,11 +658,9 @@ l_optical_flow(const struct listener *l)
void
l_home(const struct listener *l)
{
- struct home_position_s home;
-
orb_copy(ORB_ID(home_position), mavlink_subs.home_sub, &home);
- mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, (int32_t)(home.lat*1e7d), (int32_t)(home.lon*1e7d), (int32_t)(home.altitude)*1e3f);
+ mavlink_msg_gps_global_origin_send(MAVLINK_COMM_0, (int32_t)(home.lat*1e7d), (int32_t)(home.lon*1e7d), (int32_t)(home.alt)*1e3f);
}
void
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index ba51b024f..cfcc886b6 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -833,11 +833,11 @@ Navigator::status()
{
warnx("Global position is %svalid", _global_pos.valid ? "" : "in");
if (_global_pos.valid) {
- warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon / 1e7d, _global_pos.lat / 1e7d);
+ 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.relative_alt);
- warnx("Ground velocity in m/s, x %5.5f, y %5.5f, z %5.5f",
- (double)_global_pos.vx, (double)_global_pos.vy, (double)_global_pos.vz);
+ (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) {
@@ -964,11 +964,11 @@ Navigator::start_loiter()
if (_reset_loiter_pos || !_pos_sp_triplet.current.valid) {
_reset_loiter_pos = false;
- _pos_sp_triplet.current.lat = (double)_global_pos.lat / 1e7d;
- _pos_sp_triplet.current.lon = (double)_global_pos.lon / 1e7d;
+ _pos_sp_triplet.current.lat = _global_pos.lat;
+ _pos_sp_triplet.current.lon = _global_pos.lon;
_pos_sp_triplet.current.yaw = NAN; // NAN means to use current yaw
- float min_alt_amsl = _parameters.min_altitude + _home_pos.altitude;
+ float min_alt_amsl = _parameters.min_altitude + _home_pos.alt;
/* use current altitude if above min altitude set by parameter */
if (_global_pos.alt < min_alt_amsl) {
@@ -1063,8 +1063,8 @@ Navigator::set_mission_item()
/* set current setpoint to takeoff */
- _pos_sp_triplet.current.lat = (double)_global_pos.lat / 1e7d;
- _pos_sp_triplet.current.lon = (double)_global_pos.lon / 1e7d;
+ _pos_sp_triplet.current.lat = _global_pos.lat;
+ _pos_sp_triplet.current.lon = _global_pos.lon;
_pos_sp_triplet.current.alt = takeoff_alt_amsl;
_pos_sp_triplet.current.yaw = NAN;
_pos_sp_triplet.current.type = SETPOINT_TYPE_TAKEOFF;
@@ -1111,7 +1111,7 @@ Navigator::start_rtl()
{
_do_takeoff = false;
if (_rtl_state == RTL_STATE_NONE) {
- if (_global_pos.alt < _home_pos.altitude + _parameters.rtl_alt) {
+ if (_global_pos.alt < _home_pos.alt + _parameters.rtl_alt) {
_rtl_state = RTL_STATE_CLIMB;
} else {
_rtl_state = RTL_STATE_RETURN;
@@ -1133,15 +1133,15 @@ Navigator::set_rtl_item()
case RTL_STATE_CLIMB: {
memcpy(&_pos_sp_triplet.previous, &_pos_sp_triplet.current, sizeof(position_setpoint_s));
- float climb_alt = _home_pos.altitude + _parameters.rtl_alt;
+ float climb_alt = _home_pos.alt + _parameters.rtl_alt;
if (_vstatus.condition_landed) {
climb_alt = fmaxf(climb_alt, _global_pos.alt + _parameters.rtl_alt);
}
_mission_item_valid = true;
- _mission_item.lat = (double)_global_pos.lat / 1e7d;
- _mission_item.lon = (double)_global_pos.lon / 1e7d;
+ _mission_item.lat = _global_pos.lat;
+ _mission_item.lon = _global_pos.lon;
_mission_item.altitude_is_relative = false;
_mission_item.altitude = climb_alt;
_mission_item.yaw = NAN;
@@ -1158,7 +1158,7 @@ Navigator::set_rtl_item()
_pos_sp_triplet.next.valid = false;
- mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm", climb_alt - _home_pos.altitude);
+ mavlink_log_info(_mavlink_fd, "[navigator] RTL: climb to %.1fm", climb_alt - _home_pos.alt);
break;
}
case RTL_STATE_RETURN: {
@@ -1194,7 +1194,7 @@ Navigator::set_rtl_item()
_mission_item.lat = _home_pos.lat;
_mission_item.lon = _home_pos.lon;
_mission_item.altitude_is_relative = false;
- _mission_item.altitude = _home_pos.altitude + _parameters.land_alt;
+ _mission_item.altitude = _home_pos.alt + _parameters.land_alt;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _parameters.loiter_radius;
_mission_item.loiter_direction = 1;
@@ -1220,7 +1220,7 @@ Navigator::set_rtl_item()
_mission_item.lat = _home_pos.lat;
_mission_item.lon = _home_pos.lon;
_mission_item.altitude_is_relative = false;
- _mission_item.altitude = _home_pos.altitude;
+ _mission_item.altitude = _home_pos.alt;
_mission_item.yaw = NAN;
_mission_item.loiter_radius = _parameters.loiter_radius;
_mission_item.loiter_direction = 1;
@@ -1256,11 +1256,11 @@ Navigator::position_setpoint_from_mission_item(position_setpoint_s *sp, mission_
/* set home position for RTL item */
sp->lat = _home_pos.lat;
sp->lon = _home_pos.lon;
- sp->alt = _home_pos.altitude + _parameters.rtl_alt;
+ sp->alt = _home_pos.alt + _parameters.rtl_alt;
} else {
sp->lat = item->lat;
sp->lon = item->lon;
- sp->alt = item->altitude_is_relative ? item->altitude + _home_pos.altitude : item->altitude;
+ sp->alt = item->altitude_is_relative ? item->altitude + _home_pos.alt : item->altitude;
}
sp->yaw = item->yaw;
sp->loiter_radius = item->loiter_radius;
@@ -1325,10 +1325,10 @@ Navigator::check_mission_item_reached()
/* current relative or AMSL altitude depending on mission item altitude_is_relative flag */
float wp_alt_amsl = _mission_item.altitude;
if (_mission_item.altitude_is_relative)
- wp_alt_amsl += _home_pos.altitude;
+ wp_alt_amsl += _home_pos.alt;
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, wp_alt_amsl,
- (double)_global_pos.lat / 1e7d, (double)_global_pos.lon / 1e7d, _global_pos.alt,
+ (double)_global_pos.lat, (double)_global_pos.lon, _global_pos.alt,
&dist_xy, &dist_z);
if (_do_takeoff) {
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 02fa6a8f2..af04bb0bc 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -840,19 +840,15 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (local_pos.xy_global) {
double est_lat, est_lon;
map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon);
- global_pos.lat = (int32_t)(est_lat * 1e7d);
- global_pos.lon = (int32_t)(est_lon * 1e7d);
+ global_pos.lat = est_lat;
+ global_pos.lon = est_lon;
global_pos.time_gps_usec = gps.time_gps_usec;
}
/* set valid values even if position is not valid */
if (local_pos.v_xy_valid) {
- global_pos.vx = local_pos.vx;
- global_pos.vy = local_pos.vy;
- }
-
- if (local_pos.z_valid) {
- global_pos.relative_alt = -local_pos.z;
+ global_pos.vel_n = local_pos.vx;
+ global_pos.vel_e = local_pos.vy;
}
if (local_pos.z_global) {
@@ -860,7 +856,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
if (local_pos.v_z_valid) {
- global_pos.vz = local_pos.vz;
+ global_pos.vel_d = local_pos.vz;
}
global_pos.yaw = local_pos.yaw;
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 46f8ed827..9bac2958e 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -1252,12 +1252,12 @@ int sdlog2_thread_main(int argc, char *argv[])
if (fds[ifds++].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_global_position), subs.global_pos_sub, &buf.global_pos);
log_msg.msg_type = LOG_GPOS_MSG;
- log_msg.body.log_GPOS.lat = buf.global_pos.lat;
- log_msg.body.log_GPOS.lon = buf.global_pos.lon;
+ log_msg.body.log_GPOS.lat = buf.global_pos.lat * 1e7;
+ log_msg.body.log_GPOS.lon = buf.global_pos.lon * 1e7;
log_msg.body.log_GPOS.alt = buf.global_pos.alt;
- log_msg.body.log_GPOS.vel_n = buf.global_pos.vx;
- log_msg.body.log_GPOS.vel_e = buf.global_pos.vy;
- log_msg.body.log_GPOS.vel_d = buf.global_pos.vz;
+ log_msg.body.log_GPOS.vel_n = buf.global_pos.vel_n;
+ log_msg.body.log_GPOS.vel_e = buf.global_pos.vel_e;
+ log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d;
LOGBUFFER_WRITE_AND_COUNT(GPOS);
}
diff --git a/src/modules/uORB/topics/home_position.h b/src/modules/uORB/topics/home_position.h
index 3e2fee84e..08d11abae 100644
--- a/src/modules/uORB/topics/home_position.h
+++ b/src/modules/uORB/topics/home_position.h
@@ -62,7 +62,7 @@ struct home_position_s
//bool altitude_is_relative; // TODO what means home relative altitude? we need clear definition of reference altitude then
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
- float altitude; /**< Altitude in meters */
+ float alt; /**< Altitude in meters */
};
/**
diff --git a/src/modules/uORB/topics/vehicle_global_position.h b/src/modules/uORB/topics/vehicle_global_position.h
index 143734e37..ae771ca00 100644
--- a/src/modules/uORB/topics/vehicle_global_position.h
+++ b/src/modules/uORB/topics/vehicle_global_position.h
@@ -54,7 +54,7 @@
/**
* Fused global position in WGS84.
*
- * This struct contains the system's believ about its position. It is not the raw GPS
+ * This struct contains global position estimation. It is not the raw GPS
* measurement (@see vehicle_gps_position). This topic is usually published by the position
* estimator, which will take more sources of information into account than just GPS,
* e.g. control inputs of the vehicle in a Kalman-filter implementation.
@@ -65,14 +65,13 @@ struct vehicle_global_position_s
uint64_t time_gps_usec; /**< GPS timestamp in microseconds */
bool valid; /**< true if position satisfies validity criteria of estimator */
- int32_t lat; /**< Latitude in 1E7 degrees */
- int32_t lon; /**< Longitude in 1E7 degrees */
- float alt; /**< Altitude in meters */
- float relative_alt; /**< Altitude above home position in meters, */
- float vx; /**< Ground X velocity, m/s in NED */
- float vy; /**< Ground Y velocity, m/s in NED */
- float vz; /**< Ground Z velocity, m/s in NED */
- float yaw; /**< Compass heading in radians -PI..+PI. */
+ double lat; /**< Latitude in degrees */
+ double lon; /**< Longitude in degrees */
+ float alt; /**< Altitude in meters */
+ float vel_n; /**< Ground north velocity, m/s */
+ float vel_e; /**< Ground east velocity, m/s */
+ float vel_d; /**< Ground downside velocity, m/s */
+ float yaw; /**< Yaw in radians -PI..+PI. */
};
/**
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-12 23:34:22 +0000