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AC_Avoidance: make Location(Vector3f) require ALTFRAME

This commit is contained in:
Josh Henderson 2021-03-17 17:15:56 -04:00 committed by Randy Mackay
parent dce01fbb43
commit 1b584a95ba
2 changed files with 3 additions and 6 deletions
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4
libraries/AC_Avoidance/AP_OADatabase.cpp
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@ -405,7 +405,7 @@ void AP_OADatabase::send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_
} }
// convert object's position as an offset from EKF origin to Location // convert object's position as an offset from EKF origin to Location
const Location item_loc(Vector3f(_database.items[idx].pos.x * 100.0f, _database.items[idx].pos.y * 100.0f, _database.items[idx].pos.z * 100.0f)); const Location item_loc(Vector3f(_database.items[idx].pos.x * 100.0f, _database.items[idx].pos.y * 100.0f, _database.items[idx].pos.z * 100.0f), Location::AltFrame::ABOVE_ORIGIN);
mavlink_msg_adsb_vehicle_send(chan, mavlink_msg_adsb_vehicle_send(chan,
idx, idx,
@ -476,5 +476,3 @@ AP_OADatabase *oadatabase()
} }
} }

5
libraries/AC_Avoidance/AP_OADijkstra.cpp
View File

@ -140,7 +140,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
Vector2f origin_pos; Vector2f origin_pos;
if ((_path_idx_returned > 0) && get_shortest_path_point(_path_idx_returned-1, origin_pos)) { if ((_path_idx_returned > 0) && get_shortest_path_point(_path_idx_returned-1, origin_pos)) {
// convert offset from ekf origin to Location // convert offset from ekf origin to Location
Location temp_loc(Vector3f(origin_pos.x, origin_pos.y, 0.0f)); Location temp_loc(Vector3f(origin_pos.x, origin_pos.y, 0.0f), Location::AltFrame::ABOVE_ORIGIN);
origin_new = temp_loc; origin_new = temp_loc;
} else { } else {
// for first point use current loc as origin // for first point use current loc as origin
@ -148,7 +148,7 @@ AP_OADijkstra::AP_OADijkstra_State AP_OADijkstra::update(const Location &current
} }
// convert offset from ekf origin to Location // convert offset from ekf origin to Location
Location temp_loc(Vector3f(dest_pos.x, dest_pos.y, 0.0f)); Location temp_loc(Vector3f(dest_pos.x, dest_pos.y, 0.0f), Location::AltFrame::ABOVE_ORIGIN);
destination_new = destination; destination_new = destination;
destination_new.lat = temp_loc.lat; destination_new.lat = temp_loc.lat;
destination_new.lng = temp_loc.lng; destination_new.lng = temp_loc.lng;
@ -904,4 +904,3 @@ bool AP_OADijkstra::get_shortest_path_point(uint8_t point_num, Vector2f& pos)
// we should never reach here but just in case // we should never reach here but just in case
return false; return false;
} }