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Use double for lat/lon in vehicle_global_position topic, use filed names lat, lon, alt, vel_n, vel_e, vel_d for global positions

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This commit is contained in:
Anton Babushkin
2014-01-24 00:06:10 +01:00
parent b3d98e4a19
commit 58792c5ca6
16 changed files with 76 additions and 87 deletions
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src/modules/fixedwing_backside/fixedwing.cpp
+4 -4
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@@ -174,9 +174,9 @@ void BlockMultiModeBacksideAutopilot::update()
// of control we will limit the velocity feedback between
// the min/max velocity
float v = _vLimit.update(sqrtf(
_pos.vx * _pos.vx +
_pos.vel_n * _pos.vel_n +
_pos.vy * _pos.vy +
_pos.vz * _pos.vz));
_pos.vel_d * _pos.vel_d));
// limit velocity command between min/max velocity
float vCmd = _vLimit.update(_vCmd.get());
@@ -236,9 +236,9 @@ void BlockMultiModeBacksideAutopilot::update()
// for the purpose of control we will limit the velocity feedback between
// the min/max velocity
float v = _vLimit.update(sqrtf(
_pos.vx * _pos.vx +
_pos.vel_n * _pos.vel_n +
_pos.vy * _pos.vy +
_pos.vz * _pos.vz));
_pos.vel_d * _pos.vel_d));
// pitch channel -> rate of climb
// TODO, might want to put a gain on this, otherwise commanding