fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 05:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/follow_target.cpp
+1 -1
View File
@@ -229,7 +229,7 @@ void FollowTarget::on_active()
// 3 degrees of facing target
if (PX4_ISFINITE(_yaw_rate)) {
if (fabsf(fabsf(_yaw_angle) - fabsf(_navigator->get_global_position()->yaw)) < math::radians(3.0F)) {
if (fabsf(fabsf(_yaw_angle) - fabsf(_navigator->get_local_position()->yaw)) < math::radians(3.0F)) {
_yaw_rate = NAN;
}
}
src/modules/navigator/mission_block.cpp
+5 -5
View File
@@ -336,10 +336,10 @@ MissionBlock::is_mission_item_reached()
/* check course if defined only for rotary wing except takeoff */
float cog = (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) ?
_navigator->get_global_position()->yaw :
_navigator->get_local_position()->yaw :
atan2f(
_navigator->get_global_position()->vel_e,
_navigator->get_global_position()->vel_n
_navigator->get_local_position()->vy,
_navigator->get_local_position()->vx
);
float yaw_err = wrap_pi(_mission_item.yaw - cog);
@@ -642,7 +642,7 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude,
/* use current position */
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
item->yaw = _navigator->get_global_position()->yaw;
item->yaw = _navigator->get_local_position()->yaw;
item->altitude = abs_altitude;
item->altitude_is_relative = false;
@@ -711,7 +711,7 @@ MissionBlock::set_vtol_transition_item(struct mission_item_s *item, const uint8_
{
item->nav_cmd = NAV_CMD_DO_VTOL_TRANSITION;
item->params[0] = (float) new_mode;
item->yaw = _navigator->get_global_position()->yaw;
item->yaw = _navigator->get_local_position()->yaw;
item->autocontinue = true;
}
src/modules/navigator/navigator_main.cpp
+1 -1
View File
@@ -305,7 +305,7 @@ Navigator::run()
position_setpoint_triplet_s *rep = get_takeoff_triplet();
// store current position as previous position and goal as next
rep->previous.yaw = get_global_position()->yaw;
rep->previous.yaw = get_local_position()->yaw;
rep->previous.lat = get_global_position()->lat;
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;