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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/local_position_estimator/BlockLocalPositionEstimator.cpp
-3
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@@ -803,9 +803,6 @@ void BlockLocalPositionEstimator::publishGlobalPos()
_pub_gpos.get().lat = lat;
_pub_gpos.get().lon = lon;
_pub_gpos.get().alt = alt;
_pub_gpos.get().vel_n = xLP(X_vx);
_pub_gpos.get().vel_e = xLP(X_vy);
_pub_gpos.get().vel_d = xLP(X_vz);
_pub_gpos.get().yaw = matrix::Eulerf(matrix::Quatf(_sub_att.get().q)).psi();
_pub_gpos.get().eph = eph;
_pub_gpos.get().epv = epv;