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replace geo _wrap_pi with matrix::wrap_pi

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This commit is contained in:
Daniel Agar
2018-06-12 09:00:52 +02:00
committed by Lorenz Meier
parent 518daa4a8d
commit d0bde9ab2a
14 changed files with 60 additions and 313 deletions
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src/modules/mavlink/mavlink_mission.cpp
+13 -12
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@@ -43,17 +43,18 @@
#include "mavlink_mission.h"
#include "mavlink_main.h"
#include <errno.h>
#include <math.h>
#include <lib/ecl/geo/geo.h>
#include <systemlib/err.h>
#include <drivers/drv_hrt.h>
#include <px4_defines.h>
#include <mathlib/mathlib.h>
#include <matrix/math.hpp>
#include <navigator/navigation.h>
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
using matrix::wrap_pi;
dm_item_t MavlinkMissionManager::_dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0;
bool MavlinkMissionManager::_dataman_init = false;
uint16_t MavlinkMissionManager::_count[3] = { 0, 0, 0 };
@@ -1315,13 +1316,13 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
mission_item->nav_cmd = NAV_CMD_WAYPOINT;
mission_item->time_inside = mavlink_mission_item->param1;
mission_item->acceptance_radius = mavlink_mission_item->param2;
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
mission_item->yaw = wrap_pi(math::radians(mavlink_mission_item->param4));
break;
case MAV_CMD_NAV_LOITER_UNLIM:
mission_item->nav_cmd = NAV_CMD_LOITER_UNLIMITED;
mission_item->loiter_radius = mavlink_mission_item->param3;
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
mission_item->yaw = wrap_pi(math::radians(mavlink_mission_item->param4));
break;
case MAV_CMD_NAV_LOITER_TIME:
@@ -1334,14 +1335,14 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
case MAV_CMD_NAV_LAND:
mission_item->nav_cmd = NAV_CMD_LAND;
// TODO: abort alt param1
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
mission_item->yaw = wrap_pi(math::radians(mavlink_mission_item->param4));
mission_item->land_precision = mavlink_mission_item->param2;
break;
case MAV_CMD_NAV_TAKEOFF:
mission_item->nav_cmd = NAV_CMD_TAKEOFF;
mission_item->pitch_min = mavlink_mission_item->param1;
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
mission_item->yaw = wrap_pi(math::radians(mavlink_mission_item->param4));
break;
case MAV_CMD_NAV_LOITER_TO_ALT:
@@ -1381,7 +1382,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
case MAV_CMD_NAV_VTOL_TAKEOFF:
case MAV_CMD_NAV_VTOL_LAND:
mission_item->nav_cmd = (NAV_CMD)mavlink_mission_item->command;
mission_item->yaw = _wrap_pi(mavlink_mission_item->param4 * M_DEG_TO_RAD_F);
mission_item->yaw = wrap_pi(math::radians(mavlink_mission_item->param4));
break;
case MAV_CMD_NAV_FENCE_RETURN_POINT:
@@ -1586,12 +1587,12 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
case NAV_CMD_WAYPOINT:
mavlink_mission_item->param1 = mission_item->time_inside;
mavlink_mission_item->param2 = mission_item->acceptance_radius;
mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
mavlink_mission_item->param4 = math::degrees(mission_item->yaw);
break;
case NAV_CMD_LOITER_UNLIMITED:
mavlink_mission_item->param3 = mission_item->loiter_radius;
mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
mavlink_mission_item->param4 = math::degrees(mission_item->yaw);
break;
case NAV_CMD_LOITER_TIME_LIMIT:
@@ -1602,12 +1603,12 @@ MavlinkMissionManager::format_mavlink_mission_item(const struct mission_item_s *
case NAV_CMD_LAND:
// TODO: param1 abort alt
mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
mavlink_mission_item->param4 = math::degrees(mission_item->yaw);
break;
case NAV_CMD_TAKEOFF:
mavlink_mission_item->param1 = mission_item->pitch_min;
mavlink_mission_item->param4 = mission_item->yaw * M_RAD_TO_DEG_F;
mavlink_mission_item->param4 = math::degrees(mission_item->yaw);
break;
case NAV_CMD_LOITER_TO_ALT: