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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/position_estimator_inav/position_estimator_inav_main.c
+5 -9
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@@ -840,19 +840,15 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
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 * 1e7d);
global_pos.lon = (int32_t)(est_lon * 1e7d);
global_pos.lat = est_lat;
global_pos.lon = est_lon;
global_pos.time_gps_usec = gps.time_gps_usec;
}
/* set valid values even if position is not valid */
if (local_pos.v_xy_valid) {
global_pos.vx = local_pos.vx;
global_pos.vy = local_pos.vy;
}
if (local_pos.z_valid) {
global_pos.relative_alt = -local_pos.z;
global_pos.vel_n = local_pos.vx;
global_pos.vel_e = local_pos.vy;
}
if (local_pos.z_global) {
@@ -860,7 +856,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
if (local_pos.v_z_valid) {
global_pos.vz = local_pos.vz;
global_pos.vel_d = local_pos.vz;
}
global_pos.yaw = local_pos.yaw;