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combine sensor_gps + vehicle_gps_position msgs (keeping separate topics)

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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/navigator/geofence.cpp
+1 -1
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@@ -213,7 +213,7 @@ bool Geofence::checkAll(double lat, double lon, float altitude)
}
}
bool Geofence::check(const vehicle_global_position_s &global_position, const vehicle_gps_position_s &gps_position)
bool Geofence::check(const vehicle_global_position_s &global_position, const sensor_gps_s &gps_position)
{
if (_param_gf_altmode.get() == Geofence::GF_ALT_MODE_WGS84) {
if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
src/modules/navigator/geofence.h
+2 -2
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@@ -50,7 +50,7 @@
#include <uORB/Subscription.hpp>
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/vehicle_air_data.h>
#define GEOFENCE_FILENAME PX4_STORAGEDIR"/etc/geofence.txt"
@@ -88,7 +88,7 @@ public:
*
* @return true: system is obeying fence, false: system is violating fence
*/
bool check(const vehicle_global_position_s &global_position, const vehicle_gps_position_s &gps_position);
bool check(const vehicle_global_position_s &global_position, const sensor_gps_s &gps_position);
/**
* Return whether a mission item obeys the geofence.
src/modules/navigator/navigator.h
+2 -2
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@@ -73,7 +73,7 @@
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_status.h>
@@ -356,7 +356,7 @@ private:
home_position_s _home_pos{}; /**< home position for RTL */
mission_result_s _mission_result{};
vehicle_global_position_s _global_pos{}; /**< global vehicle position */
vehicle_gps_position_s _gps_pos{}; /**< gps position */
sensor_gps_s _gps_pos{}; /**< gps position */
vehicle_land_detected_s _land_detected{}; /**< vehicle land_detected */
vehicle_local_position_s _local_pos{}; /**< local vehicle position */
vehicle_status_s _vstatus{}; /**< vehicle status */