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eph and epv renaming, make this compile again

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This commit is contained in:
Julian Oes
2014-04-26 23:31:15 +02:00
parent e8531e8360
commit e882824ee1
11 changed files with 36 additions and 36 deletions
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src/drivers/gps/gps.cpp
+3 -3
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@@ -282,8 +282,8 @@ GPS::task_main()
_report.p_variance_m = 10.0f;
_report.c_variance_rad = 0.1f;
_report.fix_type = 3;
_report.eph_m = 3.0f;
_report.epv_m = 7.0f;
_report.eph = 3.0f;
_report.epv = 7.0f;
_report.timestamp_velocity = hrt_absolute_time();
_report.vel_n_m_s = 0.0f;
_report.vel_e_m_s = 0.0f;
@@ -446,7 +446,7 @@ GPS::print_info()
warnx("position lock: %dD, satellites: %d, last update: %fms ago", (int)_report.fix_type,
_report.satellites_visible, (hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
warnx("eph: %.2fm, epv: %.2fm", _report.eph_m, _report.epv_m);
warnx("eph: %.2fm, epv: %.2fm", _report.eph, _report.epv);
warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
warnx("rate publication:\t%6.2f Hz", (double)_rate);
src/drivers/gps/mtk.cpp
+2 -2
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@@ -253,8 +253,8 @@ MTK::handle_message(gps_mtk_packet_t &packet)
_gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
_gps_position->fix_type = packet.fix_type;
_gps_position->eph_m = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit
_gps_position->epv_m = 0.0; //unknown in mtk custom mode
_gps_position->eph = packet.hdop; // XXX: Check this because eph_m is in m and hdop is without unit
_gps_position->epv = 0.0; //unknown in mtk custom mode
_gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s
_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
_gps_position->satellites_visible = packet.satellites;
src/drivers/gps/ubx.cpp
+2 -2
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@@ -425,8 +425,8 @@ UBX::handle_message()
_gps_position->lat = packet->lat;
_gps_position->lon = packet->lon;
_gps_position->alt = packet->height_msl;
_gps_position->eph_m = (float)packet->hAcc * 1e-3f; // from mm to m
_gps_position->epv_m = (float)packet->vAcc * 1e-3f; // from mm to m
_gps_position->eph = (float)packet->hAcc * 1e-3f; // from mm to m
_gps_position->epv = (float)packet->vAcc * 1e-3f; // from mm to m
_gps_position->timestamp_position = hrt_absolute_time();
_rate_count_lat_lon++;
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+2 -2
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@@ -398,7 +398,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
hrt_abstime vel_t = 0;
bool vel_valid = false;
if (ekf_params.acc_comp == 1 && gps.fix_type >= 3 && gps.eph_m < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) {
if (ekf_params.acc_comp == 1 && gps.fix_type >= 3 && gps.eph < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) {
vel_valid = true;
if (gps_updated) {
vel_t = gps.timestamp_velocity;
@@ -407,7 +407,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
vel(2) = gps.vel_d_m_s;
}
} else if (ekf_params.acc_comp == 2 && gps.eph_m < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
} else if (ekf_params.acc_comp == 2 && gps.eph < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
vel_valid = true;
if (global_pos_updated) {
vel_t = global_pos.timestamp;
src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
+2 -3
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@@ -1247,7 +1247,6 @@ FixedwingEstimator::task_main()
/* local pos alt is negative, change sign and add alt offset */
_global_pos.alt = _local_pos.ref_alt + (-_local_pos.z);
_global_pos.rel_alt = (-_local_pos.z);
if (_local_pos.v_z_valid) {
_global_pos.vel_d = _local_pos.vz;
@@ -1255,8 +1254,8 @@ FixedwingEstimator::task_main()
_global_pos.yaw = _local_pos.yaw;
_global_pos.eph = _gps.eph_m;
_global_pos.epv = _gps.epv_m;
_global_pos.eph = _gps.eph;
_global_pos.epv = _gps.epv;
_global_pos.timestamp = _local_pos.timestamp;
src/modules/mavlink/mavlink_messages.cpp
+2 -2
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@@ -541,8 +541,8 @@ protected:
gps->lat,
gps->lon,
gps->alt,
cm_uint16_from_m_float(gps->eph_m),
cm_uint16_from_m_float(gps->epv_m),
cm_uint16_from_m_float(gps->eph),
cm_uint16_from_m_float(gps->epv),
gps->vel_m_s * 100.0f,
_wrap_2pi(gps->cog_rad) * M_RAD_TO_DEG_F * 1e2f,
gps->satellites_visible);
src/modules/mavlink/mavlink_receiver.cpp
+3 -3
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@@ -661,12 +661,12 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
hil_gps.lat = gps.lat;
hil_gps.lon = gps.lon;
hil_gps.alt = gps.alt;
hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.timestamp_variance = timestamp;
hil_gps.s_variance_m_s = 5.0f;
hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
hil_gps.p_variance_m = hil_gps.eph * hil_gps.eph;
hil_gps.timestamp_velocity = timestamp;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
src/modules/navigator/navigator_main.cpp
+10 -9
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@@ -743,16 +743,17 @@ Navigator::start()
void
Navigator::status()
{
warnx("Global position is %svalid", _global_pos.global_valid ? "" : "in");
/* TODO: add this again */
// warnx("Global position is %svalid", _global_pos_valid ? "" : "in");
if (_global_pos.global_valid) {
warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat);
warnx("Altitude %5.5f meters, altitude above home %5.5f meters",
(double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt));
warnx("Ground velocity in m/s, N %5.5f, E %5.5f, D %5.5f",
(double)_global_pos.vel_n, (double)_global_pos.vel_e, (double)_global_pos.vel_d);
warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F));
}
// if (_global_pos.global_valid) {
// warnx("Longitude %5.5f degrees, latitude %5.5f degrees", _global_pos.lon, _global_pos.lat);
// warnx("Altitude %5.5f meters, altitude above home %5.5f meters",
// (double)_global_pos.alt, (double)(_global_pos.alt - _home_pos.alt));
// warnx("Ground velocity in m/s, N %5.5f, E %5.5f, D %5.5f",
// (double)_global_pos.vel_n, (double)_global_pos.vel_e, (double)_global_pos.vel_d);
// warnx("Compass heading in degrees %5.5f", (double)(_global_pos.yaw * M_RAD_TO_DEG_F));
// }
if (_fence_valid) {
warnx("Geofence is valid");
src/modules/position_estimator_inav/position_estimator_inav_main.c
+6 -6
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@@ -592,13 +592,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* hysteresis for GPS quality */
if (gps_valid) {
if (gps.eph_m > max_eph_epv * 1.5f || gps.epv_m > max_eph_epv * 1.5f || gps.fix_type < 3) {
if (gps.eph > max_eph_epv * 1.5f || gps.epv > max_eph_epv * 1.5f || gps.fix_type < 3) {
gps_valid = false;
mavlink_log_info(mavlink_fd, "[inav] GPS signal lost");
}
} else {
if (gps.eph_m < max_eph_epv && gps.epv_m < max_eph_epv && gps.fix_type >= 3) {
if (gps.eph < max_eph_epv && gps.epv < max_eph_epv && gps.fix_type >= 3) {
gps_valid = true;
reset_est = true;
mavlink_log_info(mavlink_fd, "[inav] GPS signal found");
@@ -673,8 +673,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
corr_gps[2][1] = 0.0f;
}
w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph_m);
w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv_m);
w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph);
w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv);
}
} else {
@@ -951,8 +951,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
global_pos.yaw = local_pos.yaw;
// TODO implement dead-reckoning
global_pos.eph = gps.eph_m;
global_pos.epv = gps.epv_m;
global_pos.eph = gps.eph;
global_pos.epv = gps.epv;
if (vehicle_global_position_pub < 0) {
vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
src/modules/sdlog2/sdlog2.c
+2 -2
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@@ -972,8 +972,8 @@ int sdlog2_thread_main(int argc, char *argv[])
log_msg.msg_type = LOG_GPS_MSG;
log_msg.body.log_GPS.gps_time = buf_gps_pos.time_gps_usec;
log_msg.body.log_GPS.fix_type = buf_gps_pos.fix_type;
log_msg.body.log_GPS.eph = buf_gps_pos.eph_m;
log_msg.body.log_GPS.epv = buf_gps_pos.epv_m;
log_msg.body.log_GPS.eph = buf_gps_pos.eph;
log_msg.body.log_GPS.epv = buf_gps_pos.epv;
log_msg.body.log_GPS.lat = buf_gps_pos.lat;
log_msg.body.log_GPS.lon = buf_gps_pos.lon;
log_msg.body.log_GPS.alt = buf_gps_pos.alt * 0.001f;
src/modules/uORB/topics/vehicle_gps_position.h
+2 -2
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@@ -65,8 +65,8 @@ struct vehicle_gps_position_s {
float c_variance_rad; /**< course accuracy estimate rad */
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
float eph_m; /**< GPS HDOP horizontal dilution of position in m */
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
float eph; /**< GPS HDOP horizontal dilution of position in m */
float epv; /**< GPS VDOP horizontal dilution of position in m */
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
float vel_m_s; /**< GPS ground speed (m/s) */