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mavlink_receiver: use SET_GPS_GLOBAL_ORIGIN to set the origin

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The message GPS_GLOBAL_ORIGIN is meant as a telemtry information message
to send out the components reference and not to set it. I had to switch
to listen to SET_GPS_GLOBAL_ORIGIN such that I can implement sending out
GPS_GLOBAL_ORIGIN.
This commit is contained in:
Matthias Grob
2020-11-19 19:00:37 +01:00
parent 1425d87640
commit c845265b1b
2 changed files with 7 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mavlink/mavlink_receiver.cpp
+6 -7
View File
@@ -162,8 +162,8 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_odometry(msg);
break;
case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
handle_message_gps_global_origin(msg);
case MAVLINK_MSG_ID_SET_GPS_GLOBAL_ORIGIN:
handle_message_set_gps_global_origin(msg);
break;
case MAVLINK_MSG_ID_RADIO_STATUS:
@@ -1218,17 +1218,16 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
}
void
MavlinkReceiver::handle_message_gps_global_origin(mavlink_message_t *msg)
MavlinkReceiver::handle_message_set_gps_global_origin(mavlink_message_t *msg)
{
mavlink_gps_global_origin_t origin;
mavlink_msg_gps_global_origin_decode(msg, &origin);
mavlink_set_gps_global_origin_t origin;
mavlink_msg_set_gps_global_origin_decode(msg, &origin);
if (!globallocalconverter_initialized()) {
if (!globallocalconverter_initialized() && (origin.target_system == _mavlink->get_system_id())) {
/* Set reference point conversion of local coordiantes <--> global coordinates */
globallocalconverter_init((double)origin.latitude * 1.0e-7, (double)origin.longitude * 1.0e-7,
(float)origin.altitude * 1.0e-3f, hrt_absolute_time());
_global_ref_timestamp = hrt_absolute_time();
}
}
src/modules/mavlink/mavlink_receiver.h
+1 -1
View File
@@ -150,7 +150,7 @@ private:
void handle_message_distance_sensor(mavlink_message_t *msg);
void handle_message_follow_target(mavlink_message_t *msg);
void handle_message_generator_status(mavlink_message_t *msg);
void handle_message_gps_global_origin(mavlink_message_t *msg);
void handle_message_set_gps_global_origin(mavlink_message_t *msg);
void handle_message_gps_rtcm_data(mavlink_message_t *msg);
void handle_message_heartbeat(mavlink_message_t *msg);
void handle_message_hil_gps(mavlink_message_t *msg);