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geo: refactoring on comments and usage

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This commit is contained in:
Matthias Grob
2021-10-20 15:07:18 +02:00
parent 8db7a6225b
commit 10ceea2fe6
16 changed files with 49 additions and 87 deletions
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src/modules/ekf2/EKF/ekf.h
+1 -1
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@@ -157,7 +157,7 @@ public:
// get the ekf WGS-84 origin position and height and the system time it was last set
// return true if the origin is valid
bool getEkfGlobalOrigin(uint64_t &origin_time, double &latitude, double &longitude, float &origin_alt) const;
bool setEkfGlobalOrigin(const double latitude, const double longitude, const float altitude);
void setEkfGlobalOrigin(const double latitude, const double longitude, const float altitude);
float getEkfGlobalOriginAltitude() const { return _gps_alt_ref; }
bool setEkfGlobalOriginAltitude(const float altitude);
src/modules/ekf2/EKF/ekf_helper.cpp
+1 -3
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@@ -706,7 +706,7 @@ bool Ekf::getEkfGlobalOrigin(uint64_t &origin_time, double &latitude, double &lo
return _NED_origin_initialised;
}
bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, const float altitude)
void Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, const float altitude)
{
bool current_pos_available = false;
double current_lat = static_cast<double>(NAN);
@@ -735,8 +735,6 @@ bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, cons
// reset altitude
_gps_alt_ref = altitude;
}
return true;
}
/*
src/modules/ekf2/EKF/estimator_interface.cpp
+1 -5
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@@ -195,11 +195,7 @@ void EstimatorInterface::setGpsData(const gps_message &gps)
// Only calculate the relative position if the WGS-84 location of the origin is set
if (collect_gps(gps)) {
float lpos_x = 0.0f;
float lpos_y = 0.0f;
_pos_ref.project((gps.lat / 1.0e7), (gps.lon / 1.0e7), lpos_x, lpos_y);
gps_sample_new.pos(0) = lpos_x;
gps_sample_new.pos(1) = lpos_y;
gps_sample_new.pos = _pos_ref.project((gps.lat / 1.0e7), (gps.lon / 1.0e7));
} else {
gps_sample_new.pos(0) = 0.0f;
src/modules/ekf2/EKF/estimator_interface.h
+2 -2
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@@ -324,8 +324,8 @@ protected:
bool _gps_speed_valid{false};
float _gps_origin_eph{0.0f}; // horizontal position uncertainty of the GPS origin
float _gps_origin_epv{0.0f}; // vertical position uncertainty of the GPS origin
MapProjection _pos_ref {}; // Contains WGS-84 position latitude and longitude (radians) of the EKF origin
MapProjection _gps_pos_prev {}; // Contains WGS-84 position latitude and longitude (radians) of the previous GPS message
MapProjection _pos_ref{}; // Contains WGS-84 position latitude and longitude of the EKF origin
MapProjection _gps_pos_prev{}; // Contains WGS-84 position latitude and longitude of the previous GPS message
float _gps_alt_prev{0.0f}; // height from the previous GPS message (m)
float _gps_yaw_offset{0.0f}; // Yaw offset angle for dual GPS antennas used for yaw estimation (radians).