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Send current local position estimate as well

This commit is contained in:
Lorenz Meier 2014-04-26 16:07:29 +02:00
parent 0d50b3ea86
commit 13dfe0447c
2 changed files with 20 additions and 9 deletions
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24
src/modules/commander/commander.cpp
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@ -927,6 +927,14 @@ int commander_thread_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_position);
}
/* update local position estimate */
orb_check(local_position_sub, &updated);
if (updated) {
/* position changed */
orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
}
/* update condition_global_position_valid */
/* hysteresis for EPH/EPV */
bool eph_epv_good;
@ -952,6 +960,10 @@ int commander_thread_main(int argc, char *argv[])
home.lon = global_position.lon;
home.alt = global_position.alt;
home.x = local_position.x;
home.y = local_position.y;
home.z = local_position.z;
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);
@ -968,14 +980,6 @@ int commander_thread_main(int argc, char *argv[])
tune_positive(true);
}
/* update local position estimate */
orb_check(local_position_sub, &updated);
if (updated) {
/* position changed */
orb_copy(ORB_ID(vehicle_local_position), local_position_sub, &local_position);
}
/* update condition_local_position_valid and condition_local_altitude_valid */
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.xy_valid && eph_epv_good, &(status.condition_local_position_valid), &status_changed);
check_valid(local_position.timestamp, POSITION_TIMEOUT, local_position.z_valid, &(status.condition_local_altitude_valid), &status_changed);
@ -1338,6 +1342,10 @@ int commander_thread_main(int argc, char *argv[])
home.lon = global_position.lon;
home.alt = global_position.alt;
home.x = local_position.x;
home.y = local_position.y;
home.z = local_position.z;
warnx("home: lat = %.7f, lon = %.7f, alt = %.2f ", home.lat, home.lon, (double)home.alt);
mavlink_log_info(mavlink_fd, "[cmd] home: %.7f, %.7f, %.2f", home.lat, home.lon, (double)home.alt);

5
src/modules/uORB/topics/home_position.h
View File

@ -59,10 +59,13 @@ struct home_position_s
{
uint64_t timestamp; /**< Timestamp (microseconds since system boot) */
//bool altitude_is_relative; // TODO what means home relative altitude? we need clear definition of reference altitude then
double lat; /**< Latitude in degrees */
double lon; /**< Longitude in degrees */
float alt; /**< Altitude in meters */
float x; /**< X coordinate in meters */
float y; /**< Y coordinate in meters */
float z; /**< Z coordinate in meters */
};
/**