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Code Issues Releases Activity

New NEDPosition object which is the transformed GPS location

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This commit is contained in:
James Cotton 2012-02-28 22:49:17 -06:00
parent e3c36ac99a
commit 1911c7360d
4 changed files with 26 additions and 0 deletions
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11
flight/Modules/Attitude/revolution/attitude.c
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@ -60,6 +60,7 @@
#include "velocityactual.h"
#include "gpsposition.h"
#include "baroaltitude.h"
#include "nedposition.h"
#include "flightstatus.h"
#include "homelocation.h"
#include "gpsposition.h"
@ -116,6 +117,7 @@ int32_t AttitudeInitialize(void)
{
AttitudeActualInitialize();
AttitudeSettingsInitialize();
NEDPositionInitialize();
PositionActualInitialize();
VelocityActualInitialize();
@ -621,6 +623,15 @@ static int32_t updateAttitudeINSGPS(bool first_run)
(float) (home.ECEF[1] / 100.0f),
(float) (home.ECEF[2] / 100.0f)};
LLA2Base(LLA, ECEF, (float (*)[3]) home.RNE, NED);
// Store this for inspecting offline
NEDPositionData nedPos;
NEDPositionGet(&nedPos);
nedPos.North = NED[0];
nedPos.East = NED[1];
nedPos.Down = NED[2];
NEDPositionSet(&nedPos);
} else if (!outdoor_mode) {
INSSetPosVelVar(1e-2f, 1e-2f);
vel[0] = vel[1] = vel[2] = 0;

1
flight/Revolution/UAVObjects.inc
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@ -55,6 +55,7 @@ UAVOBJSRCFILENAMES += manualcontrolsettings
UAVOBJSRCFILENAMES += mixersettings
UAVOBJSRCFILENAMES += mixerstatus
UAVOBJSRCFILENAMES += nedaccel
UAVOBJSRCFILENAMES += nedposition
UAVOBJSRCFILENAMES += objectpersistence
UAVOBJSRCFILENAMES += overosyncstats
UAVOBJSRCFILENAMES += positionactual

2
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
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@ -71,6 +71,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/flightplancontrol.h \
$$UAVOBJECT_SYNTHETICS/watchdogstatus.h \
$$UAVOBJECT_SYNTHETICS/nedaccel.h \
$$UAVOBJECT_SYNTHETICS/nedposition.h \
$$UAVOBJECT_SYNTHETICS/sonaraltitude.h \
$$UAVOBJECT_SYNTHETICS/flightstatus.h \
$$UAVOBJECT_SYNTHETICS/hwsettings.h \
@ -129,6 +130,7 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/flightplancontrol.cpp \
$$UAVOBJECT_SYNTHETICS/watchdogstatus.cpp \
$$UAVOBJECT_SYNTHETICS/nedaccel.cpp \
$$UAVOBJECT_SYNTHETICS/nedposition.cpp \
$$UAVOBJECT_SYNTHETICS/sonaraltitude.cpp \
$$UAVOBJECT_SYNTHETICS/uavobjectsinit.cpp \
$$UAVOBJECT_SYNTHETICS/flightstatus.cpp \

12
shared/uavobjectdefinition/nedposition.xml Normal file
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@ -0,0 +1,12 @@
<xml>
<object name="NEDPosition" singleinstance="true" settings="false">
<description>Contains the current position relative to @ref HomeLocation</description>
<field name="North" units="m" type="float" elements="1"/>
<field name="East" units="m" type="float" elements="1"/>
<field name="Down" units="m" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="periodic" period="1000"/>
</object>
</xml>