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AP_NavEKF3: use get_distance_NE instead of location_diff

This commit is contained in:
Pierre Kancir 2019-04-08 15:16:20 +02:00 committed by Tom Pittenger
parent 50e99b6e1a
commit b3a1c9c90c
3 changed files with 3 additions and 3 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -576,7 +576,7 @@ void NavEKF3_core::readGpsData()
// convert GPS measurements to local NED and save to buffer to be fused later if we have a valid origin
if (validOrigin) {
gpsDataNew.pos = location_diff(EKF_origin, gpsloc);
gpsDataNew.pos = EKF_origin.get_distance_NE(gpsloc);
gpsDataNew.hgt = (float)((double)0.01 * (double)gpsloc.alt - ekfGpsRefHgt);
storedGPS.push(gpsDataNew);
// declare GPS available for use

2
libraries/AP_NavEKF3/AP_NavEKF3_Outputs.cpp
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@ -250,7 +250,7 @@ bool NavEKF3_core::getPosNE(Vector2f &posNE) const
if ((AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D)) {
// If the origin has been set and we have GPS, then return the GPS position relative to the origin
const struct Location &gpsloc = AP::gps().location();
Vector2f tempPosNE = location_diff(EKF_origin, gpsloc);
const Vector2f tempPosNE = EKF_origin.get_distance_NE(gpsloc);
posNE.x = tempPosNE.x;
posNE.y = tempPosNE.y;
return false;

2
libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp
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@ -49,7 +49,7 @@ bool NavEKF3_core::calcGpsGoodToAlign(void)
float deltaTime = constrain_float(float(imuDataDelayed.time_ms - lastPreAlignGpsCheckTime_ms)*0.001f,0.01f,posFiltTimeConst);
lastPreAlignGpsCheckTime_ms = imuDataDelayed.time_ms;
// Sum distance moved
gpsDriftNE += location_diff(gpsloc_prev, gpsloc).length();
gpsDriftNE += gpsloc_prev.get_distance(gpsloc);
gpsloc_prev = gpsloc;
// Decay distance moved exponentially to zero
gpsDriftNE *= (1.0f - deltaTime/posFiltTimeConst);