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init global map reference in commander and not in navigator

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Thomas Gubler
2014-05-05 15:37:53 +02:00
parent 474a76b553
commit 60ccbaa8bb
2 changed files with 12 additions and 7 deletions
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src/modules/commander/commander.cpp
+12 -2
View File
@@ -87,6 +87,7 @@
#include <systemlib/err.h>
#include <systemlib/cpuload.h>
#include <systemlib/rc_check.h>
#include <geo/geo.h>
#include "px4_custom_mode.h"
#include "commander_helper.h"
@@ -366,7 +367,7 @@ static orb_advert_t status_pub;
transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armedBy)
{
transition_result_t arming_res = TRANSITION_NOT_CHANGED;
// Transition the armed state. By passing mavlink_fd to arming_state_transition it will
// output appropriate error messages if the state cannot transition.
arming_res = arming_state_transition(&status, &safety, arm ? ARMING_STATE_ARMED : ARMING_STATE_STANDBY, &armed, mavlink_fd);
@@ -375,7 +376,7 @@ transition_result_t arm_disarm(bool arm, const int mavlink_fd, const char* armed
} else if (arming_res == TRANSITION_DENIED) {
tune_negative(true);
}
return arming_res;
}
@@ -571,6 +572,9 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe
home->valid = true;
/* set reference for map _projection */
map_projection_global_init(home->lat, home->lon, hrt_absolute_time());
/* announce new home position */
if (*home_pub > 0) {
orb_publish(ORB_ID(home_position), *home_pub, home);
@@ -958,6 +962,9 @@ int commander_thread_main(int argc, char *argv[])
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
/* set reference for map _projection */
map_projection_global_init(home.lat, home.lon, hrt_absolute_time());
/* announce new home position */
if (home_pub > 0) {
orb_publish(ORB_ID(home_position), home_pub, &home);
@@ -1345,6 +1352,9 @@ int commander_thread_main(int argc, char *argv[])
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
/* set reference for map _projection */
map_projection_global_init(home.lat, home.lon, hrt_absolute_time());
/* announce new home position */
if (home_pub > 0) {
orb_publish(ORB_ID(home_position), home_pub, &home);
src/modules/navigator/navigator_main.cpp
-5
View File
@@ -822,11 +822,6 @@ Navigator::task_main()
_global_pos_valid = _vstatus.condition_global_position_valid;
/* set reference for map _projection if global pos is valid and home position is valid and we have not done so already */
if (!map_projection_global_initialized() && _global_pos_valid && _home_pos.valid) {
map_projection_global_init(_home_pos.lat, _home_pos.lon, _home_pos.timestamp);
}
/* publish position setpoint triplet if updated */
if (_pos_sp_triplet_updated) {
_pos_sp_triplet_updated = false;