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vehicle_local_position: rename yaw -> heading and add reset logic

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- vehicle_global_position yaw removed (redundant)
This commit is contained in:
Daniel Agar
2020-08-07 14:06:38 -04:00
committed by Mathieu Bresciani
parent 33fb9d0c62
commit 97fc1db768
24 changed files with 75 additions and 86 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+1 -2
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@@ -595,7 +595,7 @@ void BlockLocalPositionEstimator::publishLocalPos()
_pub_lpos.get().z = xLP(X_z); // down
}
_pub_gpos.get().yaw = matrix::Eulerf(matrix::Quatf(_sub_att.get().q)).psi();
_pub_lpos.get().heading = matrix::Eulerf(matrix::Quatf(_sub_att.get().q)).psi();
_pub_lpos.get().vx = xLP(X_vx); // north
_pub_lpos.get().vy = xLP(X_vy); // east
@@ -793,7 +793,6 @@ void BlockLocalPositionEstimator::publishGlobalPos()
_pub_gpos.get().lat = lat;
_pub_gpos.get().lon = lon;
_pub_gpos.get().alt = alt;
_pub_gpos.get().yaw = matrix::Eulerf(matrix::Quatf(_sub_att.get().q)).psi();
_pub_gpos.get().eph = eph;
_pub_gpos.get().epv = epv;
_pub_gpos.get().terrain_alt = _altOrigin - xLP(X_tz);