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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
2020-08-10 11:42:03 +02:00
committed by Mathieu Bresciani
parent 33fb9d0c62
commit 97fc1db768
24 changed files with 75 additions and 86 deletions
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src/modules/mavlink/mavlink_high_latency2.cpp
+3 -2
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@@ -294,8 +294,9 @@ bool MavlinkStreamHighLatency2::write_geofence_result(mavlink_high_latency2_t *m
bool MavlinkStreamHighLatency2::write_global_position(mavlink_high_latency2_t *msg)
{
vehicle_global_position_s global_pos;
vehicle_local_position_s local_pos;
if (_global_pos_sub.update(&global_pos)) {
if (_global_pos_sub.update(&global_pos) && _local_pos_sub.update(&local_pos)) {
msg->latitude = global_pos.lat * 1e7;
msg->longitude = global_pos.lon * 1e7;
@@ -310,7 +311,7 @@ bool MavlinkStreamHighLatency2::write_global_position(mavlink_high_latency2_t *m
msg->altitude = altitude;
msg->heading = static_cast<uint8_t>(math::degrees(wrap_2pi(global_pos.yaw)) * 0.5f);
msg->heading = static_cast<uint8_t>(math::degrees(wrap_2pi(local_pos.heading)) * 0.5f);
return true;
}
src/modules/mavlink/mavlink_messages.cpp
+3 -3
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@@ -1534,7 +1534,7 @@ protected:
mavlink_vfr_hud_t msg{};
msg.airspeed = airspeed_validated.equivalent_airspeed_m_s;
msg.groundspeed = sqrtf(lpos.vx * lpos.vx + lpos.vy * lpos.vy);
msg.heading = math::degrees(wrap_2pi(lpos.yaw));
msg.heading = math::degrees(wrap_2pi(lpos.heading));
if (armed.armed) {
actuator_controls_s act0{};
@@ -2469,7 +2469,7 @@ protected:
msg.vy = lpos.vy * 100.0f;
msg.vz = lpos.vz * 100.0f;
msg.hdg = math::degrees(wrap_2pi(lpos.yaw)) * 100.0f;
msg.hdg = math::degrees(wrap_2pi(lpos.heading)) * 100.0f;
mavlink_msg_global_position_int_send_struct(_mavlink->get_channel(), &msg);
@@ -4870,7 +4870,7 @@ protected:
vehicle_local_position_s lpos{};
_lpos_sub.copy(&lpos);
msg.yaw_absolute = math::degrees(matrix::wrap_2pi(lpos.yaw + mount_orientation.attitude_euler_angle[2]));
msg.yaw_absolute = math::degrees(matrix::wrap_2pi(lpos.heading + mount_orientation.attitude_euler_angle[2]));
mavlink_msg_mount_orientation_send_struct(_mavlink->get_channel(), &msg);
src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -2600,7 +2600,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
hil_local_pos.vz = hil_state.vz / 100.0f;
matrix::Eulerf euler{matrix::Quatf(hil_state.attitude_quaternion)};
hil_local_pos.yaw = euler.psi();
hil_local_pos.heading = euler.psi();
hil_local_pos.xy_global = true;
hil_local_pos.z_global = true;
hil_local_pos.vxy_max = INFINITY;