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mavlink interface: update mapprojection usage

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Thomas Gubler
2014-04-29 15:39:26 +02:00
parent 4f84cdc8b8
commit a7289a3266
3 changed files with 22 additions and 6 deletions
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src/lib/geo/geo.c
+8 -3
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@@ -81,13 +81,13 @@ __EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t tim
{
if (strcmp("navigator", getprogname() == 0)) {
return map_projection_init(&mp_ref, lat_0, lon_0, timestamp);
return map_projection_init_timestamped(&mp_ref, lat_0, lon_0, timestamp);
} else {
return -1;
}
}
__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
{
ref->lat = lat_0 / 180.0 * M_PI;
@@ -102,9 +102,14 @@ __EXPORT int map_projection_init(struct map_projection_reference_s *ref, double
return 0;
}
__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0) //lat_0, lon_0 are expected to be in correct format: -> 47.1234567 and not 471234567
{
map_projection_init_timestamped(ref, lat_0, lon_0, hrt_absolute_time());
}
__EXPORT int map_projection_global_reference(double *ref_lat, double *ref_lon)
{
return map_projection_reference_s(&mp_ref, ref_lat, ref_lon);
return map_projection_reference(&mp_ref, ref_lat, ref_lon);
}
__EXPORT int map_projection_reference(const struct map_projection_reference_s *ref, double *ref_lat, double *ref_lon)
src/lib/geo/geo.h
+12 -1
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@@ -129,7 +129,18 @@ __EXPORT int map_projection_global_init(double lat_0, double lon_0, uint64_t tim
* @param lat in degrees (47.1234567°, not 471234567°)
* @param lon in degrees (8.1234567°, not 81234567°)
*/
__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0, uint64_t timestamp);
__EXPORT int map_projection_init_timestamped(struct map_projection_reference_s *ref,
double lat_0, double lon_0, uint64_t timestamp);
/**
* Initializes the map transformation given by the argument and sets the timestamp to now.
*
* Initializes the transformation between the geographic coordinate system and
* the azimuthal equidistant plane
* @param lat in degrees (47.1234567°, not 471234567°)
* @param lon in degrees (8.1234567°, not 81234567°)
*/
__EXPORT int map_projection_init(struct map_projection_reference_s *ref, double lat_0, double lon_0);
/**
* Transforms a point in the geographic coordinate system to the local
src/modules/mavlink/mavlink_receiver.cpp
+2 -2
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@@ -766,7 +766,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
if (!_hil_local_proj_inited) {
_hil_local_proj_inited = true;
_hil_local_alt0 = hil_state.alt / 1000.0f;
hil_local_pos.ref_timestamp = map_projection_timestamp();
hil_local_pos.ref_timestamp = map_projection_global_timestamp();
hil_local_pos.ref_lat = lat;
hil_local_pos.ref_lon = lon;
hil_local_pos.ref_alt = _hil_local_alt0;
@@ -774,7 +774,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
float x;
float y;
map_projection_project(lat, lon, &x, &y);
map_projection_global_project(lat, lon, &x, &y);
hil_local_pos.timestamp = timestamp;
hil_local_pos.xy_valid = true;
hil_local_pos.z_valid = true;