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Added additional vector functions, fixed seatbelt for global estimators

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This commit is contained in:
Lorenz Meier
2013-09-08 21:49:59 +02:00
parent 14828cfda5
commit 11e4fbc374
4 changed files with 51 additions and 15 deletions
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src/modules/commander/state_machine_helper.cpp
+6 -4
View File
@@ -228,8 +228,9 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m
case MAIN_STATE_SEATBELT:
/* need altitude estimate */
if (current_state->condition_local_altitude_valid) {
/* need at minimum altitude estimate */
if (current_state->condition_local_altitude_valid ||
current_state->condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -237,8 +238,9 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m
case MAIN_STATE_EASY:
/* need local position estimate */
if (current_state->condition_local_position_valid) {
/* need at minimum local position estimate */
if (current_state->condition_local_position_valid ||
current_state->condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
src/modules/uORB/topics/vehicle_global_position.h
+7 -7
View File
@@ -62,17 +62,17 @@
struct vehicle_global_position_s
{
uint64_t timestamp; /**< time of this estimate, in microseconds since system start */
uint64_t time_gps_usec; /**< GPS timestamp in microseconds */
bool valid; /**< true if position satisfies validity criteria of estimator */
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 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. */
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. */
};
/**