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geo: Moved the map_projection_* functions and state into a self-contained C++ class

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This commit is contained in:
Thomas Debrunner
2021-12-06 14:30:14 +01:00
committed by Matthias Grob
parent fe23718e2c
commit 8db7a6225b
38 changed files with 324 additions and 329 deletions
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src/modules/ekf2/EKF2.cpp
+4 -4
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@@ -716,7 +716,7 @@ void EKF2::PublishGlobalPosition(const hrt_abstime &timestamp)
global_pos.timestamp_sample = timestamp;
// Position of local NED origin in GPS / WGS84 frame
map_projection_reproject(&_ekf.global_origin(), position(0), position(1), &global_pos.lat, &global_pos.lon);
_ekf.global_origin().reproject(position(0), position(1), global_pos.lat, global_pos.lon);
float delta_xy[2];
_ekf.get_posNE_reset(delta_xy, &global_pos.lat_lon_reset_counter);
@@ -867,9 +867,9 @@ void EKF2::PublishLocalPosition(const hrt_abstime &timestamp)
// Position of local NED origin in GPS / WGS84 frame
if (_ekf.global_origin_valid()) {
lpos.ref_timestamp = _ekf.global_origin().timestamp;
lpos.ref_lat = math::degrees(_ekf.global_origin().lat_rad); // Reference point latitude in degrees
lpos.ref_lon = math::degrees(_ekf.global_origin().lon_rad); // Reference point longitude in degrees
lpos.ref_timestamp = _ekf.global_origin().getProjectionReferenceTimestamp();
lpos.ref_lat = _ekf.global_origin().getProjectionReferenceLat(); // Reference point latitude in degrees
lpos.ref_lon = _ekf.global_origin().getProjectionReferenceLon(); // Reference point longitude in degrees
lpos.ref_alt = _ekf.getEkfGlobalOriginAltitude(); // Reference point in MSL altitude meters
lpos.xy_global = true;
lpos.z_global = true;