geo: remove dependency on drv_hrt time driver

src/drivers/osd/msp_osd/uorb_to_msp.cpp

@@ -37,10 +37,11 @@
  */
 
 // includes for mathematical manipulation
-#include <math.h>
-#include <matrix/math.hpp>
+#include <drivers/drv_hrt.h>
 #include <lib/geo/geo.h>
+#include <lib/mathlib/mathlib.h>
 #include <lib/modes/ui.hpp>
+#include <matrix/math.hpp>
 
 // clock access
 #include <px4_platform_common/defines.h>

src/lib/geo/geo.h

@@ -48,8 +48,6 @@
 #include <stdbool.h>
 #include <stdint.h>
 
-#include <drivers/drv_hrt.h>
-
 #include <lib/mathlib/mathlib.h>
 #include <lib/matrix/matrix/math.hpp>
 
@@ -171,15 +169,7 @@ public:
 	/**
 	 * @brief Construct and initialize a new Map Projection object
 	 */
-	MapProjection(double lat_0, double lon_0)
-	{
-		initReference(lat_0, lon_0);
-	}
-
-	/**
-	 * @brief Construct and initialize a new Map Projection object
-	 */
-	MapProjection(double lat_0, double lon_0, uint64_t timestamp)
+	MapProjection(double lat_0, double lon_0, uint64_t timestamp = 0)
 	{
 		initReference(lat_0, lon_0, timestamp);
 	}
@@ -192,20 +182,7 @@ public:
 	 * @param lat in degrees (47.1234567°, not 471234567°)
 	 * @param lon in degrees (8.1234567°, not 81234567°)
 	 */
-	void initReference(double lat_0, double lon_0, uint64_t timestamp);
-
-	/**
-	 * Initialize the map transformation
-	 *
-	 * with reference coordinates on the geographic coordinate system
-	 * where the azimuthal equidistant plane's origin is located
-	 * @param lat in degrees (47.1234567°, not 471234567°)
-	 * @param lon in degrees (8.1234567°, not 81234567°)
-	 */
-	inline void initReference(double lat_0, double lon_0)
-	{
-		initReference(lat_0, lon_0, hrt_absolute_time());
-	}
+	void initReference(double lat_0, double lon_0, uint64_t timestamp = 0);
 
 	/**
 	 * @return true, if the map reference has been initialized before

src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp

@@ -623,7 +623,7 @@ bool FlightTaskAuto::_evaluateGlobalReference()
 	}
 
 	// init projection
-	_reference_position.initReference(ref_lat, ref_lon);
+	_reference_position.initReference(ref_lat, ref_lon, _time_stamp_current);
 
 	// check if everything is still finite
 	return PX4_ISFINITE(_reference_altitude) && PX4_ISFINITE(ref_lat) && PX4_ISFINITE(ref_lon);

src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_estimator/TargetEstimator.cpp

@@ -231,7 +231,8 @@ void TargetEstimator::measurement_update(follow_target_s follow_target)
 	// Decompose follow_target message into the individual measurements for position and velocity
 	const Vector3f vel_measured{follow_target.vx, follow_target.vy, follow_target.vz};
 	Vector3f pos_measured{NAN, NAN, -(follow_target.alt - _vehicle_local_position.ref_alt)};
-	_reference_position.initReference(_vehicle_local_position.ref_lat, _vehicle_local_position.ref_lon);
+	_reference_position.initReference(_vehicle_local_position.ref_lat, _vehicle_local_position.ref_lon,
+					  hrt_absolute_time());
 	_reference_position.project(follow_target.lat, follow_target.lon, pos_measured(0), pos_measured(1));
 
 	// Initialize filter if necessary

src/modules/gimbal/output.cpp

@@ -68,7 +68,7 @@ float OutputBase::_calculate_pitch(double lon, double lat, float altitude,
 				   const vehicle_global_position_s &global_position)
 {
 	if (!_projection_reference.isInitialized()) {
-		_projection_reference.initReference(global_position.lat, global_position.lon);
+		_projection_reference.initReference(global_position.lat, global_position.lon, hrt_absolute_time());
 	}
 
 	float x1, y1, x2, y2;

src/modules/mavlink/mavlink_receiver.cpp

@@ -2695,7 +2695,7 @@ MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
 		const double lon = hil_state.lon * 1e-7;
 
 		if (!_global_local_proj_ref.isInitialized() || !PX4_ISFINITE(_global_local_alt0)) {
-			_global_local_proj_ref.initReference(lat, lon);
+			_global_local_proj_ref.initReference(lat, lon, hrt_absolute_time());
 			_global_local_alt0 = hil_state.alt / 1000.f;
 		}
 

src/modules/navigator/geofence.cpp

@@ -511,7 +511,7 @@ bool Geofence::insideCircle(const PolygonInfo &polygon, double lat, double lon,
 	}
 
 	if (!_projection_reference.isInitialized()) {
-		_projection_reference.initReference(lat, lon);
+		_projection_reference.initReference(lat, lon, hrt_absolute_time());
 	}
 
 	float x1, y1, x2, y2;

src/modules/navigator/precland.cpp

@@ -81,7 +81,7 @@ PrecLand::on_activation()
 	vehicle_local_position_s *vehicle_local_position = _navigator->get_local_position();
 
 	if (!_map_ref.isInitialized()) {
-		_map_ref.initReference(vehicle_local_position->ref_lat, vehicle_local_position->ref_lon);
+		_map_ref.initReference(vehicle_local_position->ref_lat, vehicle_local_position->ref_lon, hrt_absolute_time());
 	}
 
 	position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();

src/modules/simulation/simulator_mavlink/SimulatorMavlink.cpp

@@ -580,7 +580,7 @@ void SimulatorMavlink::handle_message_hil_state_quaternion(const mavlink_message
 		double lon = hil_state.lon * 1e-7;
 
 		if (!_global_local_proj_ref.isInitialized()) {
-			_global_local_proj_ref.initReference(lat, lon);
+			_global_local_proj_ref.initReference(lat, lon, timestamp);
 			_global_local_alt0 = hil_state.alt / 1000.f;
 		}