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[WIP] Set framework to define offset between global origin and current local position #691

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merged 15 commits into from
Jun 7, 2017
Merged

[WIP] Set framework to define offset between global origin and current local position #691

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92b275c
add handlers for GPS_GLOBAL_ORIGIN and SET_GPS_GLOBAL_ORIGIN
TSC21 Apr 6, 2017
c4941a9
fix cast of encoding types
TSC21 Apr 7, 2017
5828670
refactor gps coord conversions
TSC21 Apr 7, 2017
5ec3c56
uncrustify
TSC21 Apr 7, 2017
55315c4
Merge branch 'master' of https://github.com/mavlink/mavros into globa…
TSC21 May 16, 2017
b732739
global_position: add LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET handler
TSC21 May 16, 2017
64111d4
global_position: add trasform sender for offset
TSC21 May 16, 2017
8215c7c
global_origin: refactor covariance matrix
TSC21 May 16, 2017
cbf87be
global_position: update copyright
TSC21 May 27, 2017
9420462
global_position: add initial support to REP 105
TSC21 May 27, 2017
35b0817
px4_config: global_position: update frame description
TSC21 May 27, 2017
555c3f1
global_position: correct identation
TSC21 May 27, 2017
855835e
global position: be consistent with frame and methods names (ecef!=wg…
TSC21 Jun 6, 2017
fd1fe5e
global_position: updates to code structure
TSC21 Jun 6, 2017
4f4127a
global_position: fix identation
TSC21 Jun 6, 2017
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12 changes: 6 additions & 6 deletions mavros/src/plugins/global_position.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -183,9 +183,9 @@ class GlobalPositionPlugin : public plugin::PluginBase {

g_origin->header.frame_id = frame_id;
g_origin->header.stamp = ros::Time::now();
g_origin->position.latitude = glob_orig.latitude; // @warning TODO: #529
g_origin->position.longitude = glob_orig.longitude;
g_origin->position.altitude = glob_orig.altitude;
g_origin->position.latitude = (double)glob_orig.latitude; // @warning TODO: #529
g_origin->position.longitude = (double)glob_orig.longitude;
g_origin->position.altitude = (double)glob_orig.altitude;
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Read message documentation! That is not how you should convert int32 encoded coord's to floating point.


gp_global_origin_pub.publish(g_origin);
}
Expand Down Expand Up @@ -342,9 +342,9 @@ class GlobalPositionPlugin : public plugin::PluginBase {
// for f in ('latitude', 'longitude', 'altitude'):
// cog.outl("gpo.%s = req->%s;" % (f, f))
// ]]]
gpo.latitude = req->position.latitude;
gpo.longitude = req->position.longitude;
gpo.altitude = req->position.altitude;
gpo.latitude = (int32_t)req->position.latitude;
gpo.longitude = (int32_t)req->position.longitude;
gpo.altitude = (int32_t)req->position.altitude;
// [[[end]]] (checksum: 283da7efac0ea8cccd0d5e144ca29a03)

UAS_FCU(m_uas)->send_message_ignore_drop(gpo);
Expand Down