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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/simulator/simulator.h
+2 -8
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@@ -261,14 +261,8 @@ private:
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
// hil map_ref data
struct map_projection_reference_s _hil_local_proj_ref {};
bool _hil_local_proj_inited{false};
double _hil_ref_lat{0};
double _hil_ref_lon{0};
float _hil_ref_alt{0.0f};
uint64_t _hil_ref_timestamp{0};
map_projection_reference_s _global_local_proj_ref{};
float _global_local_alt0{NAN};
vehicle_status_s _vehicle_status{};