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sdlog2: position & velocity valid, postion global and landed flags added to LPOS, some refactoring

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This commit is contained in:
Anton Babushkin
2013-09-14 17:31:58 +02:00
parent a0d26cb282
commit 2fbd23cf6e
4 changed files with 14 additions and 8 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+5 -5
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@@ -259,7 +259,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
local_pos.ref_timestamp = hrt_absolute_time();
local_pos.z_valid = true;
local_pos.v_z_valid = true;
local_pos.global_z = true;
local_pos.z_global = true;
}
}
}
@@ -597,7 +597,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
local_pos.timestamp = t;
local_pos.xy_valid = can_estimate_xy && gps_valid;
local_pos.v_xy_valid = can_estimate_xy;
local_pos.global_xy = local_pos.xy_valid && gps_valid; // will make sense when local position sources (e.g. vicon) will be implemented
local_pos.xy_global = local_pos.xy_valid && gps_valid; // will make sense when local position sources (e.g. vicon) will be implemented
local_pos.x = x_est[0];
local_pos.vx = x_est[1];
local_pos.y = y_est[0];
@@ -610,9 +610,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
orb_publish(ORB_ID(vehicle_local_position), vehicle_local_position_pub, &local_pos);
/* publish global position */
global_pos.valid = local_pos.global_xy;
global_pos.valid = local_pos.xy_global;
if (local_pos.global_xy) {
if (local_pos.xy_global) {
double est_lat, est_lon;
map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon);
global_pos.lat = (int32_t)(est_lat * 1e7);
@@ -630,7 +630,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
global_pos.relative_alt = -local_pos.z;
}
if (local_pos.global_z) {
if (local_pos.z_global) {
global_pos.alt = local_pos.ref_alt - local_pos.z;
}