fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 03:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
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);