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AP_DDS: Support single precision hw

This commit is contained in:
pedro-fuoco 2023-05-05 12:15:07 -03:00 committed by Andrew Tridgell
parent 274379ea8a
commit c044ba67cc
1 changed files with 7 additions and 7 deletions
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14
libraries/AP_DDS/AP_DDS_Client.cpp
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@ -131,7 +131,7 @@ bool AP_DDS_Client::update_topic(sensor_msgs_msg_NavSatFix& msg, const uint8_t i
msg.position_covariance_type = 0; // COVARIANCE_TYPE_UNKNOWN
return true;
}
msg.altitude = alt_cm / 100.0;
msg.altitude = alt_cm * 0.01;
// ROS allows double precision, ArduPilot exposes float precision today
Matrix3f cov;
@ -212,13 +212,13 @@ void AP_DDS_Client::update_topic(sensor_msgs_msg_BatteryState& msg, const uint8_
float current;
msg.current = (battery.current_amps(current, instance)) ? -1 * current : NAN;
const float design_capacity = (float)battery.pack_capacity_mah(instance)/1000.0;
const float design_capacity = (float)battery.pack_capacity_mah(instance) * 0.001;
msg.design_capacity = design_capacity;
uint8_t percentage;
if (battery.capacity_remaining_pct(percentage, instance)) {
msg.percentage = percentage/100.0;
msg.charge = (percentage * design_capacity)/100.0;
msg.percentage = percentage * 0.01;
msg.charge = (percentage * design_capacity) * 0.01;
} else {
msg.percentage = NAN;
msg.charge = NAN;
@ -288,7 +288,7 @@ void AP_DDS_Client::update_topic(geometry_msgs_msg_PoseStamped& msg)
Quaternion orientation;
if (ahrs.get_quaternion(orientation)) {
Quaternion aux(orientation[0], orientation[2], orientation[1], -orientation[3]); //NED to ENU transformation
Quaternion transformation (sqrt(2)/2,0,0,sqrt(2)/2); // Z axis 90 degree rotation
Quaternion transformation (sqrtF(2) * 0.5,0,0,sqrtF(2) * 0.5); // Z axis 90 degree rotation
orientation = aux * transformation;
msg.pose.orientation.w = orientation[0];
msg.pose.orientation.x = orientation[1];
@ -351,7 +351,7 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg)
if (ahrs.get_location(loc)) {
msg.pose.position.latitude = loc.lat * 1E-7;
msg.pose.position.longitude = loc.lng * 1E-7;
msg.pose.position.altitude = loc.alt / 100.0; // Transform from cm to m
msg.pose.position.altitude = loc.alt * 0.01; // Transform from cm to m
}
// In ROS REP 103, axis orientation uses the following convention:
@ -365,7 +365,7 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg)
Quaternion orientation;
if (ahrs.get_quaternion(orientation)) {
Quaternion aux(orientation[0], orientation[2], orientation[1], -orientation[3]); //NED to ENU transformation
Quaternion transformation(sqrt(2) / 2, 0, 0, sqrt(2) / 2); // Z axis 90 degree rotation
Quaternion transformation(sqrtF(2) * 0.5, 0, 0, sqrtF(2) * 0.5); // Z axis 90 degree rotation
orientation = aux * transformation;
msg.pose.orientation.w = orientation[0];
msg.pose.orientation.x = orientation[1];