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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/rover_pos_control/RoverPositionControl.cpp
+6 -6
View File
@@ -149,7 +149,7 @@ RoverPositionControl::vehicle_attitude_poll()
}
bool
RoverPositionControl::control_position(const matrix::Vector2f &current_position,
RoverPositionControl::control_position(const matrix::Vector2d &current_position,
const matrix::Vector3f &ground_speed, const position_setpoint_triplet_s &pos_sp_triplet)
{
float dt = 0.01; // Using non zero value to a avoid division by zero
@@ -172,14 +172,14 @@ RoverPositionControl::control_position(const matrix::Vector2f &current_position,
//bool was_circle_mode = _gnd_control.circle_mode();
/* current waypoint (the one currently heading for) */
matrix::Vector2f curr_wp((float)pos_sp_triplet.current.lat, (float)pos_sp_triplet.current.lon);
matrix::Vector2d curr_wp(pos_sp_triplet.current.lat, pos_sp_triplet.current.lon);
/* previous waypoint */
matrix::Vector2f prev_wp = curr_wp;
matrix::Vector2d prev_wp = curr_wp;
if (pos_sp_triplet.previous.valid) {
prev_wp(0) = (float)pos_sp_triplet.previous.lat;
prev_wp(1) = (float)pos_sp_triplet.previous.lon;
prev_wp(0) = pos_sp_triplet.previous.lat;
prev_wp(1) = pos_sp_triplet.previous.lon;
}
matrix::Vector2f ground_speed_2d(ground_speed);
@@ -433,7 +433,7 @@ RoverPositionControl::run()
_pos_reset_counter = _global_pos.lat_lon_reset_counter;
matrix::Vector3f ground_speed(_local_pos.vx, _local_pos.vy, _local_pos.vz);
matrix::Vector2f current_position((float)_global_pos.lat, (float)_global_pos.lon);
matrix::Vector2d current_position(_global_pos.lat, _global_pos.lon);
matrix::Vector3f current_velocity(_local_pos.vx, _local_pos.vy, _local_pos.vz);
if (!manual_mode && _control_mode.flag_control_position_enabled) {
src/modules/rover_pos_control/RoverPositionControl.hpp
+2 -2
View File
@@ -150,7 +150,7 @@ private:
} _pos_ctrl_state {STOPPING}; /// Position control state machine
/* previous waypoint */
matrix::Vector2f _prev_wp{0.0f, 0.0f};
matrix::Vector2d _prev_wp{0, 0};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::GND_L1_PERIOD>) _param_l1_period,
@@ -190,7 +190,7 @@ private:
/**
* Control position.
*/
bool control_position(const matrix::Vector2f &global_pos, const matrix::Vector3f &ground_speed,
bool control_position(const matrix::Vector2d &global_pos, const matrix::Vector3f &ground_speed,
const position_setpoint_triplet_s &_pos_sp_triplet);
void control_velocity(const matrix::Vector3f &current_velocity, const position_setpoint_triplet_s &pos_sp_triplet);
void control_attitude(const vehicle_attitude_s &att, const vehicle_attitude_setpoint_s &att_sp);