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UAVCAN Moving Baseline Working

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Set uavcan publisher priorities

Switch to ardupilot rtcm message and add heading accuracy
This commit is contained in:
alexklimaj
2021-11-30 15:59:08 -05:00
committed by Daniel Agar
parent b59db7dac2
commit bfd5a90a5d
23 changed files with 328 additions and 66 deletions
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src/modules/mavlink/streams/GPS2_RAW.hpp
+5 -1
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@@ -90,7 +90,11 @@ private:
msg.yaw = 36000; // Use 36000 for north.
} else {
msg.yaw = math::degrees(gps.heading) * 100.f; // centidegrees
msg.yaw = math::degrees(matrix::wrap_2pi(gps.heading)) * 100.0f; // centidegrees
}
if (PX4_ISFINITE(gps.heading_accuracy)) {
msg.hdg_acc = math::degrees(gps.heading_accuracy) * 1e5f; // Heading / track uncertainty in degE5
}
}
src/modules/mavlink/streams/GPS_RAW_INT.hpp
+5 -2
View File
@@ -85,14 +85,17 @@ private:
msg.h_acc = gps.eph * 1e3f; // position uncertainty in mm
msg.v_acc = gps.epv * 1e3f; // altitude uncertainty in mm
msg.vel_acc = gps.s_variance_m_s * 1e3f; // speed uncertainty in mm
msg.hdg_acc = math::degrees(gps.c_variance_rad) * 1e5f; // Heading / track uncertainty in degE5
if (PX4_ISFINITE(gps.heading)) {
if (fabsf(gps.heading) < FLT_EPSILON) {
msg.yaw = 36000; // Use 36000 for north.
} else {
msg.yaw = math::degrees(gps.heading) * 100.f; // centidegrees
msg.yaw = math::degrees(matrix::wrap_2pi(gps.heading)) * 100.0f; // centidegrees
}
if (PX4_ISFINITE(gps.heading_accuracy)) {
msg.hdg_acc = math::degrees(gps.heading_accuracy) * 1e5f; // Heading / track uncertainty in degE5
}
}