From 7cad27a0243a806aa374ffda4ef9e99a854e1c16 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 20 Apr 2014 03:06:13 +0200 Subject: Changed home position set to depend on the commander home position switch --- .../fw_att_pos_estimator_main.cpp | 22 ++++++++++++++++------ 1 file changed, 16 insertions(+), 6 deletions(-) (limited to 'src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp') 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 19333accd..8f39a6330 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 @@ -73,6 +73,7 @@ #include #include #include +#include #include #include #include @@ -152,6 +153,7 @@ private: int _params_sub; /**< notification of parameter updates */ int _manual_control_sub; /**< notification of manual control updates */ int _mission_sub; + int _home_sub; /**< home position as defined by commander / user */ orb_advert_t _att_pub; /**< vehicle attitude */ orb_advert_t _global_pos_pub; /**< global position */ @@ -476,6 +478,7 @@ FixedwingEstimator::task_main() _gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); _vstatus_sub = orb_subscribe(ORB_ID(vehicle_status)); _params_sub = orb_subscribe(ORB_ID(parameter_update)); + _home_sub = orb_subscribe(ORB_ID(home_position)); /* rate limit vehicle status updates to 5Hz */ orb_set_interval(_vstatus_sub, 200); @@ -864,20 +867,27 @@ FixedwingEstimator::task_main() if (hrt_elapsed_time(&start_time) > 100000) { - if (!_gps_initialized && (_ekf->GPSstatus == 3)) { + bool home_set; + orb_check(_home_sub, &home_set); + + if (home_set && !_gps_initialized && _gps.fix_type > 2) { _ekf->velNED[0] = _gps.vel_n_m_s; _ekf->velNED[1] = _gps.vel_e_m_s; _ekf->velNED[2] = _gps.vel_d_m_s; - double lat = _gps.lat * 1e-7; - double lon = _gps.lon * 1e-7; - float alt = _gps.alt * 1e-3; + struct home_position_s home; + + orb_copy(ORB_ID(home_position), _home_sub, &home); + + double lat = home.lat; + double lon = home.lon; + float alt = home.alt; _ekf->InitialiseFilter(_ekf->velNED); // Initialize projection - _local_pos.ref_lat = _gps.lat; - _local_pos.ref_lon = _gps.lon; + _local_pos.ref_lat = home.lat * 1e7; + _local_pos.ref_lon = home.lon * 1e7; _local_pos.ref_alt = alt; _local_pos.ref_timestamp = _gps.timestamp_position; -- cgit v1.2.3