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Initialize global local projection for rovers

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This commit initializes the global and local projection for rovers
This commit is contained in:
Jaeyoung-Lim
2022-03-24 07:59:53 +01:00
committed by Daniel Agar
parent e31304d7d5
commit 106044be38
1 changed files with 9 additions and 9 deletions
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src/modules/rover_pos_control/RoverPositionControl.cpp
+9 -9
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@@ -421,17 +421,17 @@ RoverPositionControl::Run()
position_setpoint_triplet_poll();
if (!_global_local_proj_ref.isInitialized()
|| (_global_local_proj_ref.getProjectionReferenceTimestamp() != _local_pos.ref_timestamp)) {
_global_local_proj_ref.initReference(_local_pos.ref_lat, _local_pos.ref_lon,
_local_pos.ref_timestamp);
_global_local_alt0 = _local_pos.ref_alt;
}
// Convert Local setpoints to global setpoints
if (_control_mode.flag_control_offboard_enabled) {
if (!_global_local_proj_ref.isInitialized()
|| (_global_local_proj_ref.getProjectionReferenceTimestamp() != _local_pos.ref_timestamp)) {
_global_local_proj_ref.initReference(_local_pos.ref_lat, _local_pos.ref_lon,
_local_pos.ref_timestamp);
_global_local_alt0 = _local_pos.ref_alt;
}
_trajectory_setpoint_sub.update(&_trajectory_setpoint);
// local -> global