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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/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -2
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@@ -1369,7 +1369,7 @@ FixedwingPositionControl::control_landing(const Vector2f &curr_pos, const Vector
_land_noreturn_vertical = true;
} else {
if (_global_pos.vel_d > 0.1f) {
if (_local_pos.vz > 0.1f) {
_flare_pitch_sp = radians(_param_fw_lnd_fl_pmin.get()) *
constrain((_flare_height - (_global_pos.alt - terrain_alt)) / _flare_height, 0.0f, 1.0f);
}
@@ -1525,7 +1525,7 @@ FixedwingPositionControl::Run()
_vehicle_rates_sub.update();
Vector2f curr_pos((float)_global_pos.lat, (float)_global_pos.lon);
Vector2f ground_speed(_global_pos.vel_n, _global_pos.vel_e);
Vector2f ground_speed(_local_pos.vx, _local_pos.vy);
//Convert Local setpoints to global setpoints
if (_control_mode.flag_control_offboard_enabled) {