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Merge remote-tracking branch 'upstream/master' into obcfailsafe

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This commit is contained in:
Thomas Gubler
2014-08-15 18:03:49 +02:00
parent b71778d7e1 e9b0ee7501
commit e14d3b654b
23 changed files with 756 additions and 80 deletions
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src/modules/commander/commander.cpp
+14
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@@ -59,6 +59,7 @@
#include <string.h>
#include <math.h>
#include <poll.h>
#include <float.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
@@ -92,6 +93,7 @@
#include <systemlib/err.h>
#include <systemlib/cpuload.h>
#include <systemlib/rc_check.h>
#include <geo/geo.h>
#include <systemlib/state_table.h>
#include <dataman/dataman.h>
@@ -903,6 +905,8 @@ int commander_thread_main(int argc, char *argv[])
int gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
struct vehicle_gps_position_s gps_position;
memset(&gps_position, 0, sizeof(gps_position));
gps_position.eph = FLT_MAX;
gps_position.epv = FLT_MAX;
/* Subscribe to sensor topic */
int sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
@@ -1391,6 +1395,16 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps_position);
}
/* Initialize map projection if gps is valid */
if (!map_projection_global_initialized()
&& (gps_position.eph < eph_threshold)
&& (gps_position.epv < epv_threshold)
&& hrt_elapsed_time((hrt_abstime*)&gps_position.timestamp_position) < 1e6) {
/* set reference for global coordinates <--> local coordiantes conversion and map_projection */
globallocalconverter_init((double)gps_position.lat * 1.0e-7, (double)gps_position.lon * 1.0e-7, (float)gps_position.alt * 1.0e-3f, hrt_absolute_time());
}
/* start mission result check */
orb_check(mission_result_sub, &updated);
if (updated) {