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Code Issues Releases Activity

removed GPS module ability to calculate NED coordinate (not its job)

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This commit is contained in:
Corvus Corax 2013-06-30 16:31:19 +02:00
parent 91c19ca829
commit 2a16c0dbd7
3 changed files with 1 additions and 40 deletions
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39
flight/modules/GPS/GPS.c
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@ -34,7 +34,6 @@
#include "gpspositionsensor.h"
#include "homelocation.h"
#include "positionsensor.h"
#include "gpstime.h"
#include "gpssatellites.h"
#include "gpsvelocitysensor.h"
@ -60,9 +59,6 @@ static void updateSettings();
static void setHomeLocation(GPSPositionSensorData *gpsData);
static float GravityAccel(float latitude, float longitude, float altitude);
#endif
#ifdef PIOS_GPS_SETS_POSITIONSENSOR
static void setPositionSensor(GPSPositionSensorData *gpsData);
#endif
// ****************
// Private constants
@ -154,7 +150,6 @@ int32_t GPSInitialize(void)
GPSTimeInitialize();
GPSSatellitesInitialize();
HomeLocationInitialize();
PositionSensorInitialize();
updateSettings();
#else
@ -165,11 +160,8 @@ int32_t GPSInitialize(void)
GPSTimeInitialize();
GPSSatellitesInitialize();
#endif
#if (defined(PIOS_GPS_SETS_HOMELOCATION) || defined(PIOS_GPS_SETS_POSITIONSENSOR))
#if defined(PIOS_GPS_SETS_HOMELOCATION)
HomeLocationInitialize();
#endif
#ifdef PIOS_GPS_SETS_POSITIONSENSOR
PositionSensorInitialize();
#endif
updateSettings();
}
@ -270,9 +262,6 @@ static void gpsTask(__attribute__((unused)) void *parameters)
if (home.Set == HOMELOCATION_SET_FALSE) {
setHomeLocation(&gpspositionsensor);
}
#endif
#ifdef PIOS_GPS_SETS_POSITIONSENSOR
setPositionSensor(&gpspositionsensor);
#endif
} else if ((gpspositionsensor.Status == GPSPOSITIONSENSOR_STATUS_FIX3D) &&
(gpspositionsensor.Latitude != 0 || gpspositionsensor.Longitude != 0)) {
@ -336,32 +325,6 @@ static void setHomeLocation(GPSPositionSensorData *gpsData)
}
#endif /* ifdef PIOS_GPS_SETS_HOMELOCATION */
#ifdef PIOS_GPS_SETS_POSITIONSENSOR
static void setPositionSensor(GPSPositionSensorData *gpsData)
{
HomeLocationData home;
HomeLocationGet(&home);
PositionSensorData pos;
PositionSensorGet(&pos);
double ECEF[3];
double Rne[3][3];
{
float LLA[3] = { (home.Latitude) / 10e6f, (home.Longitude) / 10e6f, (home.Altitude) };
LLA2ECEF(LLA, ECEF);
RneFromLLA(LLA, Rne);
}
{ float LLA[3] = { (gpsData->Latitude) / 10e6d, (gpsData->Longitude) / 10e6d, gpsData->Altitude + gpsData->GeoidSeparation };
float NED[3];
LLA2Base(LLA, ECEF, Rne, NED);
pos.North = NED[0];
pos.East = NED[1];
pos.Down = NED[2]; }
PositionSensorSet(&pos);
}
#endif /* ifdef PIOS_GPS_SETS_POSITIONSENSOR */
/**
* Update the GPS settings, called on startup.
* FIXME: This should be in the GPSSettings object. But objects have

1
flight/targets/boards/revolution/firmware/inc/pios_config.h
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@ -137,7 +137,6 @@
#define PIOS_INCLUDE_GPS_NMEA_PARSER
#define PIOS_INCLUDE_GPS_UBX_PARSER
#define PIOS_GPS_SETS_HOMELOCATION
#define PIOS_GPS_SETS_POSITIONSENSOR
/* Stabilization options */
/* #define PIOS_QUATERNION_STABILIZATION */

1
flight/targets/boards/revoproto/firmware/inc/pios_config.h
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@ -137,7 +137,6 @@
#define PIOS_INCLUDE_GPS_NMEA_PARSER
#define PIOS_INCLUDE_GPS_UBX_PARSER
#define PIOS_GPS_SETS_HOMELOCATION
#define PIOS_GPS_SETS_POSITIONSENSOR
/* Stabilization options */
/* #define PIOS_QUATERNION_STABILIZATION */