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pos estimator inav: revert to local map projection

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Thomas Gubler
2014-04-29 15:40:54 +02:00
parent 53d23c67d7
commit 510678bdae
1 changed files with 16 additions and 8 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+16 -8
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@@ -549,7 +549,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(home_position), home_position_sub, &home);
if (home.timestamp != home_timestamp && map_projection_initialized()) {
if (home.timestamp != home_timestamp) {
home_timestamp = home.timestamp;
double est_lat, est_lon;
@@ -558,9 +558,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (ref_inited) {
/* calculate current estimated position in global frame */
est_alt = local_pos.ref_alt - local_pos.z;
map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon);
map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon);
}
/* update reference */
map_projection_init(&ref, home.lat, home.lon);
/* update baro offset */
baro_offset += home.alt - local_pos.ref_alt;
@@ -571,7 +574,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (ref_inited) {
/* reproject position estimate with new reference */
map_projection_project(est_lat, est_lon, &x_est[0], &y_est[0]);
map_projection_project(&ref, est_lat, est_lon, &x_est[0], &y_est[0]);
z_est[0] = -(est_alt - local_pos.ref_alt);
}
@@ -602,7 +605,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
}
if (gps_valid && map_projection_initialized()) {
if (gps_valid) {
double lat = gps.lat * 1e-7;
double lon = gps.lon * 1e-7;
float alt = gps.alt * 1e-3;
@@ -626,17 +629,22 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
z_est[0] = 0.0f;
y_est[2] = accel_NED[1];
map_projection_reference(&local_pos.ref_lat, &local_pos.ref_lon);
local_pos.ref_lat = lat;
local_pos.ref_lon = lon;
local_pos.ref_alt = alt;
local_pos.ref_timestamp = t;
/* initialize projection */
map_projection_init(&ref, lat, lon);
warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
}
}
if (ref_inited) {
/* project GPS lat lon to plane */
float gps_proj[2];
map_projection_project(lat, lon, &(gps_proj[0]), &(gps_proj[1]));
map_projection_project(&ref, lat, lon, &(gps_proj[0]), &(gps_proj[1]));
/* reset position estimate when GPS becomes good */
if (reset_est) {
@@ -930,7 +938,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
global_pos.time_gps_usec = gps.time_gps_usec;
double est_lat, est_lon;
map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon);
map_projection_reproject(&ref, local_pos.x, local_pos.y, &est_lat, &est_lon);
global_pos.lat = est_lat;
global_pos.lon = est_lon;