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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/Orbit/FlightTaskOrbit.cpp
+5 -7
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@@ -84,10 +84,8 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
// commanded center coordinates
if (PX4_ISFINITE(command.param5) && PX4_ISFINITE(command.param6)) {
if (map_projection_initialized(&_global_local_proj_ref)) {
map_projection_project(&_global_local_proj_ref,
command.param5, command.param6,
&_center(0), &_center(1));
if (_geo_projection.isInitialized()) {
_center.xy() = _geo_projection.project(command.param5, command.param6);
} else {
ret = false;
@@ -96,7 +94,7 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
// commanded altitude
if (PX4_ISFINITE(command.param7)) {
if (map_projection_initialized(&_global_local_proj_ref)) {
if (_geo_projection.isInitialized()) {
_center(2) = _global_local_alt0 - command.param7;
} else {
@@ -121,9 +119,9 @@ bool FlightTaskOrbit::sendTelemetry()
orbit_status.frame = 0; // MAV_FRAME::MAV_FRAME_GLOBAL
orbit_status.yaw_behaviour = _yaw_behaviour;
if (map_projection_initialized(&_global_local_proj_ref)) {
if (_geo_projection.isInitialized()) {
// local -> global
map_projection_reproject(&_global_local_proj_ref, _center(0), _center(1), &orbit_status.x, &orbit_status.y);
_geo_projection.reproject(_center(0), _center(1), orbit_status.x, orbit_status.y);
orbit_status.z = _global_local_alt0 - _position_setpoint(2);
} else {