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move baro and magnetometer data out of sensor_combined

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This commit is contained in:
Daniel Agar
2018-04-11 23:26:58 -04:00
parent 3e6ba1d541
commit 3b5b12e1d1
31 changed files with 289 additions and 266 deletions
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src/modules/navigator/geofence.cpp
+11 -9
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@@ -54,7 +54,8 @@
Geofence::Geofence(Navigator *navigator) :
ModuleParams(navigator),
_navigator(navigator)
_navigator(navigator),
_sub_airdata(ORB_ID(vehicle_air_data))
{
// we assume there's no concurrent fence update on startup
_updateFence();
@@ -181,15 +182,13 @@ bool Geofence::checkAll(const struct vehicle_global_position_s &global_position)
return checkAll(global_position.lat, global_position.lon, global_position.alt);
}
bool Geofence::checkAll(const struct vehicle_global_position_s &global_position, float baro_altitude_amsl)
bool Geofence::checkAll(const struct vehicle_global_position_s &global_position, const float alt)
{
return checkAll(global_position.lat, global_position.lon, baro_altitude_amsl);
return checkAll(global_position.lat, global_position.lon, alt);
}
bool Geofence::check(const struct vehicle_global_position_s &global_position,
const struct vehicle_gps_position_s &gps_position, float baro_altitude_amsl,
const struct home_position_s home_pos, bool home_position_set)
bool Geofence::check(const vehicle_global_position_s &global_position, const vehicle_gps_position_s &gps_position,
const home_position_s home_pos, bool home_position_set)
{
if (getAltitudeMode() == Geofence::GF_ALT_MODE_WGS84) {
if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
@@ -201,12 +200,15 @@ bool Geofence::check(const struct vehicle_global_position_s &global_position,
}
} else {
// get baro altitude
_sub_airdata.update();
const float baro_altitude_amsl = _sub_airdata.get().baro_alt_meter;
if (getSource() == Geofence::GF_SOURCE_GLOBALPOS) {
return checkAll(global_position, baro_altitude_amsl);
} else {
return checkAll((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7,
baro_altitude_amsl);
return checkAll((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, baro_altitude_amsl);
}
}
}