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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/navigator/mission_block.cpp
+5 -5
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@@ -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;
}