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adapted to new vehicle attitude message

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tumbili
2016-10-18 20:46:08 +02:00
committed by Lorenz Meier
parent 215bfaa377
commit 5e0e522903
16 changed files with 142 additions and 94 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+11 -8
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@@ -1920,8 +1920,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
math::Vector<3> euler = C_nb.to_euler();
hil_attitude.timestamp = timestamp;
memcpy(hil_attitude.R, C_nb.data, sizeof(hil_attitude.R));
hil_attitude.R_valid = true;
//memcpy(hil_attitude.R, C_nb.data, sizeof(hil_attitude.R));
//hil_attitude.R_valid = true;
hil_attitude.q[0] = q(0);
hil_attitude.q[1] = q(1);
@@ -1929,9 +1929,9 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_attitude.q[3] = q(3);
hil_attitude.q_valid = true;
hil_attitude.roll = euler(0);
hil_attitude.pitch = euler(1);
hil_attitude.yaw = euler(2);
//hil_attitude.roll = euler(0);
//hil_attitude.pitch = euler(1);
//hil_attitude.yaw = euler(2);
hil_attitude.rollspeed = hil_state.rollspeed;
hil_attitude.pitchspeed = hil_state.pitchspeed;
hil_attitude.yawspeed = hil_state.yawspeed;
@@ -1948,7 +1948,8 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
{
struct vehicle_global_position_s hil_global_pos;
memset(&hil_global_pos, 0, sizeof(hil_global_pos));
matrix::Quaternion<float> q(&hil_attitude.q[0]);
matrix::Euler<float> euler(q);
hil_global_pos.timestamp = timestamp;
hil_global_pos.lat = hil_state.lat / ((double)1e7);
hil_global_pos.lon = hil_state.lon / ((double)1e7);
@@ -1956,7 +1957,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_global_pos.vel_n = hil_state.vx / 100.0f;
hil_global_pos.vel_e = hil_state.vy / 100.0f;
hil_global_pos.vel_d = hil_state.vz / 100.0f;
hil_global_pos.yaw = hil_attitude.yaw;
hil_global_pos.yaw = euler(1);
hil_global_pos.eph = 2.0f;
hil_global_pos.epv = 4.0f;
@@ -1997,7 +1998,9 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_local_pos.vx = hil_state.vx / 100.0f;
hil_local_pos.vy = hil_state.vy / 100.0f;
hil_local_pos.vz = hil_state.vz / 100.0f;
hil_local_pos.yaw = hil_attitude.yaw;
matrix::Quaternion<float> q(&hil_attitude.q[0]);
matrix::Euler<float> euler(q);
hil_local_pos.yaw = euler(2);
hil_local_pos.xy_global = true;
hil_local_pos.z_global = true;