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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/rover_pos_control/RoverPositionControl.cpp
+1 -1
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@@ -433,7 +433,7 @@ RoverPositionControl::run()
// update the reset counters in any case
_pos_reset_counter = _global_pos.lat_lon_reset_counter;
matrix::Vector3f ground_speed(_global_pos.vel_n, _global_pos.vel_e, _global_pos.vel_d);
matrix::Vector3f ground_speed(_local_pos.vx, _local_pos.vy, _local_pos.vz);
matrix::Vector2f current_position((float)_global_pos.lat, (float)_global_pos.lon);
matrix::Vector3f current_velocity(_local_pos.vx, _local_pos.vy, _local_pos.vz);