Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-02 11:59:17 +08:00
Code Issues Actions 21 Packages Projects Releases Wiki Activity

Initialize global local projection for rovers

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/rover_pos_control/RoverPositionControl.cpp
+2 -2
View File
@@ -421,8 +421,6 @@ RoverPositionControl::Run()
position_setpoint_triplet_poll(); position_setpoint_triplet_poll();
// Convert Local setpoints to global setpoints
if (_control_mode.flag_control_offboard_enabled) {
if (!_global_local_proj_ref.isInitialized() if (!_global_local_proj_ref.isInitialized()
|| (_global_local_proj_ref.getProjectionReferenceTimestamp() != _local_pos.ref_timestamp)) { || (_global_local_proj_ref.getProjectionReferenceTimestamp() != _local_pos.ref_timestamp)) {
@@ -432,6 +430,8 @@ RoverPositionControl::Run()
_global_local_alt0 = _local_pos.ref_alt; _global_local_alt0 = _local_pos.ref_alt;
} }
// Convert Local setpoints to global setpoints
if (_control_mode.flag_control_offboard_enabled) {
_trajectory_setpoint_sub.update(&_trajectory_setpoint); _trajectory_setpoint_sub.update(&_trajectory_setpoint);
// local -> global // local -> global