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https://bitbucket.org/librepilot/librepilot.git
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removed surplus NEDposition uavobject
This commit is contained in:
Corvus Corax
parent
3c8ffa9773
commit
5981d9acd6
@ -63,7 +63,6 @@
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#include "gyrosbias.h"
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#include "homelocation.h"
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#include "magnetometer.h"
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#include "nedposition.h"
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#include "positionactual.h"
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#include "revocalibration.h"
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#include "revosettings.h"
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@ -128,7 +127,6 @@ int32_t AttitudeInitialize(void)
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{
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AttitudeActualInitialize();
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AttitudeSettingsInitialize();
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NEDPositionInitialize();
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PositionActualInitialize();
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VelocityActualInitialize();
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RevoSettingsInitialize();
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@ -455,13 +453,6 @@ static int32_t updateAttitudeComplementary(bool first_run)
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GPSPositionGet(&gpsPosition);
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getNED(&gpsPosition, NED);
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NEDPositionData nedPosition;
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NEDPositionGet(&nedPosition);
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nedPosition.North = NED[0];
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nedPosition.East = NED[1];
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nedPosition.Down = NED[2];
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NEDPositionSet(&nedPosition);
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PositionActualData positionActual;
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PositionActualGet(&positionActual);
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positionActual.North = NED[0];
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@ -776,14 +767,6 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
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(1.0f - BARO_OFFSET_LOWPASS_ALPHA )
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* ( -NED[2] - baroData.Altitude );
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// Store this for inspecting offline
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NEDPositionData nedPos;
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NEDPositionGet(&nedPos);
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nedPos.North = NED[0];
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nedPos.East = NED[1];
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nedPos.Down = NED[2];
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NEDPositionSet(&nedPos);
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} else if (!outdoor_mode) {
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INSSetPosVelVar(1e2f, 1e2f);
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vel[0] = vel[1] = vel[2] = 0;
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@ -60,7 +60,6 @@
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#include "fixedwingpathfollowersettings.h"
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#include "fixedwingpathfollowerstatus.h"
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#include "homelocation.h"
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#include "nedposition.h"
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#include "stabilizationdesired.h"
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#include "stabilizationsettings.h"
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#include "systemsettings.h"
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@ -60,9 +60,9 @@
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#include "pathstatus.h"
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#include "gpsvelocity.h"
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#include "gpsposition.h"
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#include "homelocation.h"
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#include "vtolpathfollowersettings.h"
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#include "nedaccel.h"
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#include "nedposition.h"
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#include "stabilizationdesired.h"
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#include "stabilizationsettings.h"
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#include "systemsettings.h"
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@ -75,6 +75,7 @@
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#define STACK_SIZE_BYTES 1548
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#define TASK_PRIORITY (tskIDLE_PRIORITY+2)
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#define F_PI 3.14159265358979323846f
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#define DEG2RAD (F_PI/180.0f)
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// Private types
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@ -348,11 +349,24 @@ void updateEndpointVelocity()
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break;
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case VTOLPATHFOLLOWERSETTINGS_POSITIONSOURCE_GPSPOS:
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{
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NEDPositionData nedPosition;
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NEDPositionGet(&nedPosition);
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northPos = nedPosition.North;
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eastPos = nedPosition.East;
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downPos = nedPosition.Down;
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// this used to work with the NEDposition UAVObject
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// however this UAVObject has been removed
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GPSPositionData gpsPosition;
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GPSPositionGet(&gpsPosition);
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HomeLocationData homeLocation;
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HomeLocationGet(&homeLocation);
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float lat = homeLocation.Latitude / 10.0e6f * DEG2RAD;
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float alt = homeLocation.Altitude;
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float T[3] = { alt+6.378137E6f,
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cosf(lat)*(alt+6.378137E6f),
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-1.0f};
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float NED[3] = {T[0] * ((gpsPosition.Latitude - homeLocation.Latitude) / 10.0e6f * DEG2RAD),
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T[1] * ((gpsPosition.Longitude - homeLocation.Longitude) / 10.0e6f * DEG2RAD),
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T[2] * ((gpsPosition.Altitude + gpsPosition.GeoidSeparation - homeLocation.Altitude))};
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northPos = NED[0];
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eastPos = NED[1];
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downPos = NED[2];
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}
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break;
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default:
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@ -63,7 +63,6 @@ UAVOBJSRCFILENAMES += manualcontrolsettings
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UAVOBJSRCFILENAMES += mixersettings
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UAVOBJSRCFILENAMES += mixerstatus
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UAVOBJSRCFILENAMES += nedaccel
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UAVOBJSRCFILENAMES += nedposition
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UAVOBJSRCFILENAMES += objectpersistence
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UAVOBJSRCFILENAMES += overosyncstats
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UAVOBJSRCFILENAMES += overosyncsettings
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@ -63,7 +63,6 @@ UAVOBJSRCFILENAMES += manualcontrolsettings
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UAVOBJSRCFILENAMES += mixersettings
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UAVOBJSRCFILENAMES += mixerstatus
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UAVOBJSRCFILENAMES += nedaccel
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UAVOBJSRCFILENAMES += nedposition
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UAVOBJSRCFILENAMES += objectpersistence
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UAVOBJSRCFILENAMES += overosyncstats
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UAVOBJSRCFILENAMES += overosyncsettings
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@ -61,7 +61,6 @@ UAVOBJSRCFILENAMES += manualcontrolsettings
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UAVOBJSRCFILENAMES += mixersettings
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UAVOBJSRCFILENAMES += mixerstatus
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UAVOBJSRCFILENAMES += nedaccel
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UAVOBJSRCFILENAMES += nedposition
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UAVOBJSRCFILENAMES += objectpersistence
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UAVOBJSRCFILENAMES += overosyncstats
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UAVOBJSRCFILENAMES += pathaction
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@ -87,7 +87,6 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
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$$UAVOBJECT_SYNTHETICS/flightplancontrol.h \
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$$UAVOBJECT_SYNTHETICS/watchdogstatus.h \
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$$UAVOBJECT_SYNTHETICS/nedaccel.h \
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$$UAVOBJECT_SYNTHETICS/nedposition.h \
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$$UAVOBJECT_SYNTHETICS/sonaraltitude.h \
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$$UAVOBJECT_SYNTHETICS/flightstatus.h \
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$$UAVOBJECT_SYNTHETICS/hwsettings.h \
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@ -167,7 +166,6 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
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$$UAVOBJECT_SYNTHETICS/flightplancontrol.cpp \
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$$UAVOBJECT_SYNTHETICS/watchdogstatus.cpp \
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$$UAVOBJECT_SYNTHETICS/nedaccel.cpp \
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$$UAVOBJECT_SYNTHETICS/nedposition.cpp \
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$$UAVOBJECT_SYNTHETICS/sonaraltitude.cpp \
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$$UAVOBJECT_SYNTHETICS/uavobjectsinit.cpp \
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$$UAVOBJECT_SYNTHETICS/flightstatus.cpp \
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@ -1,12 +0,0 @@
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<xml>
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<object name="NEDPosition" singleinstance="true" settings="false">
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<description>Contains the current position relative to @ref HomeLocation</description>
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<field name="North" units="m" type="float" elements="1"/>
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<field name="East" units="m" type="float" elements="1"/>
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<field name="Down" units="m" type="float" elements="1"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="false" updatemode="manual" period="0"/>
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<telemetryflight acked="false" updatemode="periodic" period="1000"/>
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<logging updatemode="periodic" period="1000"/>
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</object>
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</xml>
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