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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/flight_mode_manager/tasks/FlightTask/FlightTask.cpp
+4 -5
View File
@@ -154,12 +154,11 @@ void FlightTask::_evaluateVehicleLocalPosition()
// global frame reference coordinates to enable conversions
if (_sub_vehicle_local_position.get().xy_global && _sub_vehicle_local_position.get().z_global) {
if (!map_projection_initialized(&_global_local_proj_ref)
|| (_global_local_proj_ref.timestamp != _sub_vehicle_local_position.get().ref_timestamp)) {
if (!_geo_projection.isInitialized()
|| (_geo_projection.getProjectionReferenceTimestamp() != _sub_vehicle_local_position.get().ref_timestamp)) {
map_projection_init_timestamped(&_global_local_proj_ref,
_sub_vehicle_local_position.get().ref_lat, _sub_vehicle_local_position.get().ref_lon,
_sub_vehicle_local_position.get().ref_timestamp);
_geo_projection.initReference(_sub_vehicle_local_position.get().ref_lat, _sub_vehicle_local_position.get().ref_lon,
_sub_vehicle_local_position.get().ref_timestamp);
_global_local_alt0 = _sub_vehicle_local_position.get().ref_alt;
}
src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
+1 -1
View File
@@ -206,7 +206,7 @@ protected:
virtual void _ekfResetHandlerVelocityZ(float delta_vz) {};
virtual void _ekfResetHandlerHeading(float delta_psi) {};
map_projection_reference_s _global_local_proj_ref{};
MapProjection _geo_projection{};
float _global_local_alt0{NAN};
/* Time abstraction */