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FlightTask: remove global to local map

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This commit is contained in:
Dennis Mannhart
2018-03-01 14:36:38 +01:00
committed by Lorenz Meier
parent 0efbbdc227
commit a401778038
4 changed files with 28 additions and 16 deletions
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src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
+17 -1
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@@ -143,7 +143,7 @@ bool FlightTaskAuto::_evaluateTriplets()
_type = (WaypointType)_sub_triplet_setpoint->get().current.type;
_prev_prev_wp = _prev_wp; // previous -1 is set to previsou
_prev_prev_wp = _prev_wp; // previous -1 is set to previous
if (_isFinite(_sub_triplet_setpoint->get().previous) && _sub_triplet_setpoint->get().previous.valid) {
map_projection_project(&_reference_position, _sub_triplet_setpoint->get().previous.lat,
@@ -173,3 +173,19 @@ bool FlightTaskAuto::_isFinite(const position_setpoint_s sp)
{
return (PX4_ISFINITE(sp.lat) && PX4_ISFINITE(sp.lon) && PX4_ISFINITE(sp.alt));
}
bool FlightTaskAuto::_evaluateVehiclePosition()
{
FlightTask::_evaluateVehiclePosition();
/* Check if reference has changed and update. */
if (_sub_vehicle_local_position->get().ref_timestamp != _time_stamp_reference) {
map_projection_init(&_reference_position,
_sub_vehicle_local_position->get().ref_lat,
_sub_vehicle_local_position->get().ref_lon);
_reference_altitude = _sub_vehicle_local_position->get().ref_alt;
_time_stamp_reference = _sub_vehicle_local_position->get().ref_timestamp;
}
return true;
}