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ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage

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- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
This commit is contained in:
Daniel Agar
2021-03-05 18:25:14 -05:00
committed by GitHub
parent 12a4b0334f
commit 263b00b65f
21 changed files with 212 additions and 118 deletions
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src/modules/rover_pos_control/RoverPositionControl.cpp
+14 -7
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@@ -410,17 +410,24 @@ RoverPositionControl::Run()
position_setpoint_triplet_poll();
//Convert Local setpoints to global setpoints
// Convert Local setpoints to global setpoints
if (_control_mode.flag_control_offboard_enabled) {
if (!globallocalconverter_initialized()) {
globallocalconverter_init(_local_pos.ref_lat, _local_pos.ref_lon,
_local_pos.ref_alt, _local_pos.ref_timestamp);
if (!map_projection_initialized(&_global_local_proj_ref)
|| (_global_local_proj_ref.timestamp != _local_pos.ref_timestamp)) {
} else {
globallocalconverter_toglobal(_pos_sp_triplet.current.x, _pos_sp_triplet.current.y, _pos_sp_triplet.current.z,
&_pos_sp_triplet.current.lat, &_pos_sp_triplet.current.lon, &_pos_sp_triplet.current.alt);
map_projection_init_timestamped(&_global_local_proj_ref, _local_pos.ref_lat, _local_pos.ref_lon,
_local_pos.ref_timestamp);
_global_local_alt0 = _local_pos.ref_alt;
}
// local -> global
map_projection_reproject(&_global_local_proj_ref,
_pos_sp_triplet.current.x, _pos_sp_triplet.current.y,
&_pos_sp_triplet.current.lat, &_pos_sp_triplet.current.lon);
_pos_sp_triplet.current.alt = _global_local_alt0 - _pos_sp_triplet.current.z;
_pos_sp_triplet.current.valid = true;
}
// update the reset counters in any case