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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/simulator/simulator.h
+1 -1
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@@ -264,7 +264,7 @@ private:
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
// hil map_ref data
map_projection_reference_s _global_local_proj_ref{};
MapProjection _global_local_proj_ref{};
float _global_local_alt0{NAN};
vehicle_status_s _vehicle_status{};
src/modules/simulator/simulator_mavlink.cpp
+6 -6
View File
@@ -542,14 +542,14 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg
double lat = hil_state.lat * 1e-7;
double lon = hil_state.lon * 1e-7;
if (!map_projection_initialized(&_global_local_proj_ref)) {
map_projection_init(&_global_local_proj_ref, lat, lon);
if (!_global_local_proj_ref.isInitialized()) {
_global_local_proj_ref.initReference(lat, lon);
_global_local_alt0 = hil_state.alt / 1000.f;
}
float x;
float y;
map_projection_project(&_global_local_proj_ref, lat, lon, &x, &y);
_global_local_proj_ref.project(lat, lon, x, y);
hil_lpos.timestamp = timestamp;
hil_lpos.xy_valid = true;
hil_lpos.z_valid = true;
@@ -569,9 +569,9 @@ void Simulator::handle_message_hil_state_quaternion(const mavlink_message_t *msg
hil_lpos.heading = euler.psi();
hil_lpos.xy_global = true;
hil_lpos.z_global = true;
hil_lpos.ref_timestamp = _global_local_proj_ref.timestamp;
hil_lpos.ref_lat = math::degrees(_global_local_proj_ref.lat_rad);
hil_lpos.ref_lon = math::degrees(_global_local_proj_ref.lon_rad);
hil_lpos.ref_timestamp = _global_local_proj_ref.getProjectionReferenceTimestamp();
hil_lpos.ref_lat = _global_local_proj_ref.getProjectionReferenceLat();
hil_lpos.ref_lon = _global_local_proj_ref.getProjectionReferenceLon();
hil_lpos.ref_alt = _global_local_alt0;
hil_lpos.vxy_max = std::numeric_limits<float>::infinity();
hil_lpos.vz_max = std::numeric_limits<float>::infinity();