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[state] fix local ned/enu to ecef conversion

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by using new ecef_of_enu_pos_i functions which have enu in meter with INT32_POS_FRAC and ecef with cm
instead of everything in cm
This commit is contained in:
Felix Ruess
2013-09-25 18:31:14 +02:00
parent f9ce4aed2c
commit e84e292f3e
1 changed files with 9 additions and 12 deletions
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sw/airborne/state.c
+9 -12
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@@ -69,8 +69,7 @@ void stateCalcPositionEcef_i(void) {
ECEF_BFP_OF_REAL(state.ecef_pos_i, state.ecef_pos_f);
}
else if (bit_is_set(state.pos_status, POS_NED_I)) {
/// @todo check if resolution is good enough
ecef_of_ned_point_i(&state.ecef_pos_i, &state.ned_origin_i, &state.ned_pos_i);
ecef_of_ned_pos_i(&state.ecef_pos_i, &state.ned_origin_i, &state.ned_pos_i);
}
else if (bit_is_set(state.pos_status, POS_NED_F)) {
/* transform ned_f to ecef_f, set status bit, then convert to int */
@@ -114,7 +113,7 @@ void stateCalcPositionNed_i(void) {
INT32_VECT3_NED_OF_ENU(state.ned_pos_i, state.enu_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ECEF_I)) {
ned_of_ecef_point_i(&state.ned_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
ned_of_ecef_pos_i(&state.ned_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ECEF_F)) {
/* transform ecef_f -> ned_f, set status bit, then convert to int */
@@ -206,7 +205,7 @@ void stateCalcPositionEnu_i(void) {
INT32_VECT3_ENU_OF_NED(state.enu_pos_i, state.ned_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ECEF_I)) {
enu_of_ecef_point_i(&state.enu_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
enu_of_ecef_pos_i(&state.enu_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
}
else if (bit_is_set(state.pos_status, POS_ECEF_F)) {
/* transform ecef_f -> enu_f, set status bit, then convert to int */
@@ -306,8 +305,7 @@ void stateCalcPositionLla_i(void) {
}
else if (bit_is_set(state.pos_status, POS_NED_I)) {
/* transform ned_i -> ecef_i -> lla_i, set status bits */
/// @todo check if resolution is enough
ecef_of_ned_point_i(&state.ecef_pos_i, &state.ned_origin_i, &state.ned_pos_i);
ecef_of_ned_pos_i(&state.ecef_pos_i, &state.ned_origin_i, &state.ned_pos_i);
SetBit(state.pos_status, POS_ECEF_I);
lla_of_ecef_i(&state.lla_pos_i, &state.ecef_pos_i); /* uses double version internally */
}
@@ -360,8 +358,7 @@ void stateCalcPositionEcef_f(void) {
}
else if (bit_is_set(state.pos_status, POS_NED_I)) {
/* transform ned_i -> ecef_i -> ecef_f, set status bits */
/// @todo check if resolution is good enough
ecef_of_ned_point_i(&state.ecef_pos_i, &state.ned_origin_i, &state.ned_pos_i);
ecef_of_ned_pos_i(&state.ecef_pos_i, &state.ned_origin_i, &state.ned_pos_i);
SetBit(state.pos_status, POS_ECEF_F);
ECEF_FLOAT_OF_BFP(state.ecef_pos_f, state.ecef_pos_i);
}
@@ -396,7 +393,7 @@ void stateCalcPositionNed_f(void) {
}
else if (bit_is_set(state.pos_status, POS_ECEF_I)) {
/* transform ecef_i -> ned_i -> ned_f, set status bits */
ned_of_ecef_point_i(&state.ned_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
ned_of_ecef_pos_i(&state.ned_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
SetBit(state.pos_status, POS_NED_I);
NED_FLOAT_OF_BFP(state.ned_pos_f, state.ned_pos_i);
}
@@ -407,7 +404,7 @@ void stateCalcPositionNed_f(void) {
/* transform lla_i -> ecef_i -> ned_i -> ned_f, set status bits */
ecef_of_lla_i(&state.ecef_pos_i, &state.lla_pos_i); /* converts to doubles internally */
SetBit(state.pos_status, POS_ECEF_I);
ned_of_ecef_point_i(&state.ned_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
ned_of_ecef_pos_i(&state.ned_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
SetBit(state.pos_status, POS_NED_I);
NED_FLOAT_OF_BFP(state.ned_pos_f, state.ned_pos_i);
}
@@ -481,7 +478,7 @@ void stateCalcPositionEnu_f(void) {
}
else if (bit_is_set(state.pos_status, POS_ECEF_I)) {
/* transform ecef_i -> enu_i -> enu_f, set status bits */
enu_of_ecef_point_i(&state.enu_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
enu_of_ecef_pos_i(&state.enu_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
SetBit(state.pos_status, POS_ENU_I);
ENU_FLOAT_OF_BFP(state.enu_pos_f, state.enu_pos_i);
}
@@ -492,7 +489,7 @@ void stateCalcPositionEnu_f(void) {
/* transform lla_i -> ecef_i -> enu_i -> enu_f, set status bits */
ecef_of_lla_i(&state.ecef_pos_i, &state.lla_pos_i); /* converts to doubles internally */
SetBit(state.pos_status, POS_ECEF_I);
enu_of_ecef_point_i(&state.enu_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
enu_of_ecef_pos_i(&state.enu_pos_i, &state.ned_origin_i, &state.ecef_pos_i);
SetBit(state.pos_status, POS_ENU_I);
ENU_FLOAT_OF_BFP(state.enu_pos_f, state.enu_pos_i);
}