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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/test/sensor_simulator/gps.cpp
+2 -2
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@@ -98,11 +98,11 @@ void Gps::stepHorizontalPositionByMeters(const Vector2f hpos_change)
double lat_new {0.0};
double lon_new {0.0};
map_projection_project(&_ekf->global_origin(), _gps_data.lat * 1e-7, _gps_data.lon * 1e-7, &hposN_curr, &hposE_curr);
_ekf->global_origin().project(_gps_data.lat * 1e-7, _gps_data.lon * 1e-7, hposN_curr, hposE_curr);
Vector2f hpos_new = Vector2f{hposN_curr, hposE_curr} + hpos_change;
map_projection_reproject(&_ekf->global_origin(), hpos_new(0), hpos_new(1), &lat_new, &lon_new);
_ekf->global_origin().reproject(hpos_new(0), hpos_new(1), lat_new, lon_new);
_gps_data.lon = static_cast<int32_t>(lon_new * 1e7);
_gps_data.lat = static_cast<int32_t>(lat_new * 1e7);