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Sub: use altitude frame mapping function

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Remove checking for coordinate frames

This is very much NFC.  This change uncovers previous dead code in the
case that we are not ignoring yaw.
This commit is contained in:
Peter Barker 2019-02-12 14:42:36 +11:00 committed by Peter Barker
parent 6d914f8af3
commit dc0ad11f7a
1 changed files with 12 additions and 31 deletions
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43
ArduSub/GCS_Mavlink.cpp
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@ -884,16 +884,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
break; break;
} }
// check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_GLOBAL &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT && // solo shot manager incorrectly sends RELATIVE_ALT instead of RELATIVE_ALT_INT
packet.coordinate_frame != MAV_FRAME_GLOBAL_RELATIVE_ALT_INT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT &&
packet.coordinate_frame != MAV_FRAME_GLOBAL_TERRAIN_ALT_INT) {
break;
}
bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE; bool pos_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_POS_IGNORE;
bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE; bool vel_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_VEL_IGNORE;
bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE; bool acc_ignore = packet.type_mask & MAVLINK_SET_POS_TYPE_MASK_ACC_IGNORE;
@ -912,29 +902,20 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
if (!check_latlng(packet.lat_int, packet.lon_int)) { if (!check_latlng(packet.lat_int, packet.lon_int)) {
break; break;
} }
Location loc; Location::ALT_FRAME frame;
loc.lat = packet.lat_int; if (!mavlink_coordinate_frame_to_location_alt_frame(packet.coordinate_frame, frame)) {
loc.lng = packet.lon_int; // unknown coordinate frame
loc.alt = packet.alt*100; break;
switch (packet.coordinate_frame) { }
case MAV_FRAME_GLOBAL_RELATIVE_ALT: // solo shot manager incorrectly sends RELATIVE_ALT instead of RELATIVE_ALT_INT const Location loc{
case MAV_FRAME_GLOBAL_RELATIVE_ALT_INT: packet.lat_int,
loc.relative_alt = true; packet.lon_int,
loc.terrain_alt = false; int32_t(packet.alt*100),
break; frame,
case MAV_FRAME_GLOBAL_TERRAIN_ALT: };
case MAV_FRAME_GLOBAL_TERRAIN_ALT_INT: if (!loc.get_vector_from_origin_NEU(pos_neu_cm)) {
loc.relative_alt = true;
loc.terrain_alt = true;
break;
case MAV_FRAME_GLOBAL:
case MAV_FRAME_GLOBAL_INT:
default:
loc.relative_alt = false;
loc.terrain_alt = false;
break; break;
} }
pos_neu_cm = sub.pv_location_to_vector(loc);
} }
if (!pos_ignore && !vel_ignore && acc_ignore) { if (!pos_ignore && !vel_ignore && acc_ignore) {