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delete control_state and cleanup vehicle_attitude (#7882)

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This commit is contained in:
Daniel Agar
2017-09-21 16:24:53 -04:00
committed by GitHub
parent 5bea264a5f
commit b4755297ec
42 changed files with 776 additions and 1061 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+1 -3
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@@ -623,7 +623,6 @@ void BlockLocalPositionEstimator::publishLocalPos()
_pub_lpos.get().ref_alt = _altOrigin;
_pub_lpos.get().dist_bottom = _aglLowPass.getState();
_pub_lpos.get().dist_bottom_rate = - xLP(X_vz);
_pub_lpos.get().surface_bottom_timestamp = _timeStamp;
// we estimate agl even when we don't have terrain info
// if you are in terrain following mode this is important
// so that if terrain estimation fails there isn't a
@@ -687,7 +686,6 @@ void BlockLocalPositionEstimator::publishGlobalPos()
PX4_ISFINITE(xLP(X_vx)) && PX4_ISFINITE(xLP(X_vy)) &&
PX4_ISFINITE(xLP(X_vz))) {
_pub_gpos.get().timestamp = _timeStamp;
_pub_gpos.get().time_utc_usec = _sub_gps.get().time_utc_usec;
_pub_gpos.get().lat = lat;
_pub_gpos.get().lon = lon;
_pub_gpos.get().alt = alt;
@@ -701,10 +699,10 @@ void BlockLocalPositionEstimator::publishGlobalPos()
_pub_gpos.get().yaw = _eul(2);
_pub_gpos.get().eph = eph;
_pub_gpos.get().epv = epv;
_pub_gpos.get().pressure_alt = _sub_sensor.get().baro_alt_meter;
_pub_gpos.get().terrain_alt = _altOrigin - xLP(X_tz);
_pub_gpos.get().terrain_alt_valid = _estimatorInitialized & EST_TZ;
_pub_gpos.get().dead_reckoning = !(_estimatorInitialized & EST_XY);
_pub_gpos.get().pressure_alt = _sub_sensor.get().baro_alt_meter;
_pub_gpos.update();
// TODO provide calculated values for these
_pub_gpos.get().evh = 0.0f;