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L1 position controller: use double precision floating point for all lat/lon

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This commit is contained in:
Daniel Agar
2021-02-12 21:59:56 +01:00
committed by Lorenz Meier
parent 31a6edff07
commit 1981519aad
9 changed files with 102 additions and 95 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+7 -16
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@@ -89,22 +89,13 @@
#include <uORB/uORB.h>
#include <vtol_att_control/vtol_type.h>
using math::constrain;
using math::max;
using math::min;
using math::radians;
using matrix::Dcmf;
using matrix::Eulerf;
using matrix::Quatf;
using matrix::Vector2f;
using matrix::Vector3f;
using matrix::wrap_pi;
using namespace launchdetection;
using namespace runwaytakeoff;
using namespace time_literals;
using matrix::Vector2d;
using matrix::Vector2f;
static constexpr float HDG_HOLD_DIST_NEXT =
3000.0f; // initial distance of waypoint in front of plane in heading hold mode
static constexpr float HDG_HOLD_REACHED_DIST =
@@ -248,7 +239,7 @@ private:
bool _vtol_tailsitter{false};
Vector2f _transition_waypoint{NAN, NAN};
matrix::Vector2d _transition_waypoint{(double)NAN, (double)NAN};
// estimator reset counters
uint8_t _pos_reset_counter{0}; ///< captures the number of times the estimator has reset the horizontal position
@@ -324,13 +315,13 @@ private:
*/
void update_desired_altitude(float dt);
bool control_position(const hrt_abstime &now, const Vector2f &curr_pos, const Vector2f &ground_speed,
bool control_position(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next);
void control_takeoff(const hrt_abstime &now, const Vector2f &curr_pos, const Vector2f &ground_speed,
void control_takeoff(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);
void control_landing(const hrt_abstime &now, const Vector2f &curr_pos, const Vector2f &ground_speed,
void control_landing(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);