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combine sensor_gps + vehicle_gps_position msgs (keeping separate topics)

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This commit is contained in:
Daniel Agar
2022-07-07 10:24:11 -04:00
parent 32ae00fd44
commit 15223009d2
29 changed files with 77 additions and 142 deletions
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src/modules/commander/Commander.cpp
+4 -4
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@@ -1864,7 +1864,7 @@ Commander::hasMovedFromCurrentHomeLocation()
epv = gpos.epv;
} else if (_vehicle_status_flags.gps_position_valid) {
vehicle_gps_position_s gps;
sensor_gps_s gps;
_vehicle_gps_position_sub.copy(&gps);
const double lat = static_cast<double>(gps.lat) * 1e-7;
const double lon = static_cast<double>(gps.lon) * 1e-7;
@@ -1911,7 +1911,7 @@ Commander::set_home_position()
} else if (_vehicle_status_flags.gps_position_valid) {
// Set home using GNSS position
vehicle_gps_position_s gps_pos;
sensor_gps_s gps_pos;
_vehicle_gps_position_sub.copy(&gps_pos);
const double lat = static_cast<double>(gps_pos.lat) * 1e-7;
const double lon = static_cast<double>(gps_pos.lon) * 1e-7;
@@ -1970,7 +1970,7 @@ Commander::set_in_air_home_position()
// Back-compute lon, lat and alt of home position given the local home position
// and current positions in local and global (GNSS raw) frames
const vehicle_local_position_s &lpos = _local_position_sub.get();
vehicle_gps_position_s gps;
sensor_gps_s gps;
_vehicle_gps_position_sub.copy(&gps);
const double lat = static_cast<double>(gps.lat) * 1e-7;
@@ -4219,7 +4219,7 @@ void Commander::estimator_check()
const bool condition_gps_position_was_valid = _vehicle_status_flags.gps_position_valid;
if (_vehicle_gps_position_sub.updated()) {
vehicle_gps_position_s vehicle_gps_position;
sensor_gps_s vehicle_gps_position;
if (_vehicle_gps_position_sub.copy(&vehicle_gps_position)) {