removed surplus NEDposition uavobject

flight/Modules/Attitude/revolution/attitude.c

@@ -63,7 +63,6 @@
 #include "gyrosbias.h"
 #include "homelocation.h"
 #include "magnetometer.h"
-#include "nedposition.h"
 #include "positionactual.h"
 #include "revocalibration.h"
 #include "revosettings.h"
@@ -128,7 +127,6 @@ int32_t AttitudeInitialize(void)
 {
 	AttitudeActualInitialize();
 	AttitudeSettingsInitialize();
-	NEDPositionInitialize();
 	PositionActualInitialize();
 	VelocityActualInitialize();
 	RevoSettingsInitialize();
@@ -455,13 +453,6 @@ static int32_t updateAttitudeComplementary(bool first_run)
 		GPSPositionGet(&gpsPosition);
 		getNED(&gpsPosition, NED);
 		
-		NEDPositionData nedPosition;
-		NEDPositionGet(&nedPosition);
-		nedPosition.North = NED[0];
-		nedPosition.East = NED[1];
-		nedPosition.Down = NED[2];
-		NEDPositionSet(&nedPosition);
-
 		PositionActualData positionActual;
 		PositionActualGet(&positionActual);
 		positionActual.North = NED[0];
@@ -776,14 +767,6 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
 		    (1.0f - BARO_OFFSET_LOWPASS_ALPHA )
 		    * ( -NED[2] - baroData.Altitude );
 
-		// 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(1e2f, 1e2f);
 		vel[0] = vel[1] = vel[2] = 0;

flight/Modules/FixedWingPathFollower/fixedwingpathfollower.c

@@ -60,7 +60,6 @@
 #include "fixedwingpathfollowersettings.h"
 #include "fixedwingpathfollowerstatus.h"
 #include "homelocation.h"
-#include "nedposition.h"
 #include "stabilizationdesired.h"
 #include "stabilizationsettings.h"
 #include "systemsettings.h"

flight/Modules/VtolPathFollower/vtolpathfollower.c

@@ -60,9 +60,9 @@
 #include "pathstatus.h"
 #include "gpsvelocity.h"
 #include "gpsposition.h"
+#include "homelocation.h"
 #include "vtolpathfollowersettings.h"
 #include "nedaccel.h"
-#include "nedposition.h"
 #include "stabilizationdesired.h"
 #include "stabilizationsettings.h"
 #include "systemsettings.h"
@@ -75,6 +75,7 @@
 #define STACK_SIZE_BYTES 1548
 #define TASK_PRIORITY (tskIDLE_PRIORITY+2)
 #define F_PI 3.14159265358979323846f
+#define DEG2RAD (F_PI/180.0f)
 
 // Private types
 
@@ -348,11 +349,24 @@ void updateEndpointVelocity()
 			break;
 		case VTOLPATHFOLLOWERSETTINGS_POSITIONSOURCE_GPSPOS:
 		{
-			NEDPositionData nedPosition;
+			// this used to work with the NEDposition UAVObject
-			NEDPositionGet(&nedPosition);
+			// however this UAVObject has been removed
-			northPos = nedPosition.North;
+			GPSPositionData gpsPosition;
-			eastPos = nedPosition.East;
+			GPSPositionGet(&gpsPosition);
-			downPos = nedPosition.Down;
+			HomeLocationData homeLocation;
+			HomeLocationGet(&homeLocation);
+			float lat = homeLocation.Latitude / 10.0e6f * DEG2RAD;
+			float alt = homeLocation.Altitude;
+			float T[3] = { alt+6.378137E6f,
+				     cosf(lat)*(alt+6.378137E6f),
+				     -1.0f};
+			float NED[3] = {T[0] * ((gpsPosition.Latitude - homeLocation.Latitude) / 10.0e6f * DEG2RAD),
+				T[1] * ((gpsPosition.Longitude - homeLocation.Longitude) / 10.0e6f * DEG2RAD),
+				T[2] * ((gpsPosition.Altitude + gpsPosition.GeoidSeparation - homeLocation.Altitude))};
+
+			northPos = NED[0];
+			eastPos = NED[1];
+			downPos = NED[2];
 		}
 			break;
 		default:

flight/RevoMini/UAVObjects.inc

@@ -63,7 +63,6 @@ UAVOBJSRCFILENAMES += manualcontrolsettings
 UAVOBJSRCFILENAMES += mixersettings
 UAVOBJSRCFILENAMES += mixerstatus
 UAVOBJSRCFILENAMES += nedaccel
-UAVOBJSRCFILENAMES += nedposition
 UAVOBJSRCFILENAMES += objectpersistence
 UAVOBJSRCFILENAMES += overosyncstats
 UAVOBJSRCFILENAMES += overosyncsettings

flight/Revolution/UAVObjects.inc

@@ -63,7 +63,6 @@ UAVOBJSRCFILENAMES += manualcontrolsettings
 UAVOBJSRCFILENAMES += mixersettings
 UAVOBJSRCFILENAMES += mixerstatus
 UAVOBJSRCFILENAMES += nedaccel
-UAVOBJSRCFILENAMES += nedposition
 UAVOBJSRCFILENAMES += objectpersistence
 UAVOBJSRCFILENAMES += overosyncstats
 UAVOBJSRCFILENAMES += overosyncsettings

flight/SimPosix/UAVObjects.inc

@@ -61,7 +61,6 @@ UAVOBJSRCFILENAMES += manualcontrolsettings
 UAVOBJSRCFILENAMES += mixersettings
 UAVOBJSRCFILENAMES += mixerstatus
 UAVOBJSRCFILENAMES += nedaccel
-UAVOBJSRCFILENAMES += nedposition
 UAVOBJSRCFILENAMES += objectpersistence
 UAVOBJSRCFILENAMES += overosyncstats
 UAVOBJSRCFILENAMES += pathaction

ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro

@@ -87,7 +87,6 @@ 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 \
@@ -167,7 +166,6 @@ 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 \

shared/uavobjectdefinition/nedposition.xml

@@ -1,12 +0,0 @@
-<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>