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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/mavlink/mavlink_receiver.cpp
+8 -9
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@@ -1150,13 +1150,12 @@ MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t
return;
}
map_projection_reference_s global_local_proj_ref{};
map_projection_init_timestamped(&global_local_proj_ref, local_pos.ref_lat, local_pos.ref_lon, local_pos.ref_timestamp);
MapProjection global_local_proj_ref{local_pos.ref_lat, local_pos.ref_lon, local_pos.ref_timestamp};
// global -> local
const double lat = target_global_int.lat_int / 1e7;
const double lon = target_global_int.lon_int / 1e7;
map_projection_project(&global_local_proj_ref, lat, lon, &setpoint.x, &setpoint.y);
global_local_proj_ref.project(lat, lon, setpoint.x, setpoint.y);
if (target_global_int.coordinate_frame == MAV_FRAME_GLOBAL_INT) {
setpoint.z = local_pos.ref_alt - target_global_int.alt;
@@ -2705,20 +2704,20 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
const double lat = hil_state.lat * 1e-7;
const double lon = hil_state.lon * 1e-7;
if (!map_projection_initialized(&_global_local_proj_ref) || !PX4_ISFINITE(_global_local_alt0)) {
map_projection_init(&_global_local_proj_ref, lat, lon);
if (!_global_local_proj_ref.isInitialized() || !PX4_ISFINITE(_global_local_alt0)) {
_global_local_proj_ref.initReference(lat, lon);
_global_local_alt0 = hil_state.alt / 1000.f;
}
float x = 0.f;
float y = 0.f;
map_projection_project(&_global_local_proj_ref, lat, lon, &x, &y);
_global_local_proj_ref.project(lat, lon, x, y);
vehicle_local_position_s hil_local_pos{};
hil_local_pos.timestamp_sample = timestamp_sample;
hil_local_pos.ref_timestamp = _global_local_proj_ref.timestamp;
hil_local_pos.ref_lat = math::degrees(_global_local_proj_ref.lat_rad);
hil_local_pos.ref_lon = math::degrees(_global_local_proj_ref.lon_rad);
hil_local_pos.ref_timestamp = _global_local_proj_ref.getProjectionReferenceTimestamp();
hil_local_pos.ref_lat = _global_local_proj_ref.getProjectionReferenceLat();
hil_local_pos.ref_lon = _global_local_proj_ref.getProjectionReferenceLon();
hil_local_pos.ref_alt = _global_local_alt0;
hil_local_pos.xy_valid = true;
hil_local_pos.z_valid = true;