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vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz)

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* attitude_estimator_q: get velocity from local position (if available)
This commit is contained in:
Daniel Agar
2020-03-11 23:57:43 -04:00
committed by GitHub
parent 5d33b9e999
commit a89b69b0ea
19 changed files with 98 additions and 79 deletions
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src/drivers/telemetry/frsky_telemetry/sPort_data.cpp
+4 -4
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@@ -204,10 +204,10 @@ void sPort_send_ALT(int uart)
// verified scaling for "calculated" option
void sPort_send_SPD(int uart)
{
const vehicle_global_position_s &global_pos = s_port_subscription_data->vehicle_global_position_sub.get();
const vehicle_local_position_s &local_pos = s_port_subscription_data->vehicle_local_position_sub.get();
/* send data for A2 */
float speed = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e);
float speed = sqrtf(local_pos.vx * local_pos.vx + local_pos.vy * local_pos.vy);
uint32_t ispeed = (int)(10 * speed);
sPort_send_data(uart, SMARTPORT_ID_GPS_SPD, ispeed);
}
@@ -297,10 +297,10 @@ void sPort_send_GPS_TIME(int uart)
void sPort_send_GPS_SPD(int uart)
{
const vehicle_global_position_s &global_pos = s_port_subscription_data->vehicle_global_position_sub.get();
const vehicle_local_position_s &local_pos = s_port_subscription_data->vehicle_local_position_sub.get();
/* send 100 * knots */
float speed = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e);
float speed = sqrtf(local_pos.vx * local_pos.vx + local_pos.vy * local_pos.vy);
uint32_t ispeed = (int)(1944 * speed);
sPort_send_data(uart, SMARTPORT_ID_GPS_SPD, ispeed);
}