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GCS_Common: LOCAL_POSITION_NED sent using offset from origin (instead of offset from home) #15169

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merged 3 commits into from
Sep 1, 2020
Merged

GCS_Common: LOCAL_POSITION_NED sent using offset from origin (instead of offset from home) #15169

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6f2ebd0
GCS_Common: send_local_position uses offset from origin
sharvashish Aug 27, 2020
320f973
Copter: guided consumes set-pos-target-local-ned Z-axis as offset fro…
rmackay9 Aug 27, 2020
4da886b
Rover: guided consumes set-pos-target-local-ned as offset from origin
rmackay9 Aug 27, 2020
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10 changes: 0 additions & 10 deletions ArduCopter/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1101,16 +1101,6 @@ void GCS_MAVLINK_Copter::handleMessage(const mavlink_message_t &msg)
packet.coordinate_frame == MAV_FRAME_BODY_NED ||
packet.coordinate_frame == MAV_FRAME_BODY_OFFSET_NED) {
pos_vector += copter.inertial_nav.get_position();
} else {
// convert from alt-above-home to alt-above-ekf-origin
if (!AP::ahrs().home_is_set()) {
break;
}
Location origin;
pos_vector.z += AP::ahrs().get_home().alt;
if (copter.ahrs.get_origin(origin)) {
pos_vector.z -= origin.alt;
}
}
}

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11 changes: 9 additions & 2 deletions Rover/GCS_Mavlink.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -766,6 +766,12 @@ void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
break;
}

// need ekf origin
Location ekf_origin;
if (!rover.ahrs.get_origin(ekf_origin)) {
break;
}

// check for supported coordinate frames
if (packet.coordinate_frame != MAV_FRAME_LOCAL_NED &&
packet.coordinate_frame != MAV_FRAME_LOCAL_OFFSET_NED &&
Expand Down Expand Up @@ -799,9 +805,10 @@ void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
target_loc.offset(packet.x, packet.y);
break;

case MAV_FRAME_LOCAL_NED:
default:
// MAV_FRAME_LOCAL_NED interpret as an offset from home
target_loc = rover.ahrs.get_home();
// MAV_FRAME_LOCAL_NED is interpreted as an offset from EKF origin
target_loc = ekf_origin;
target_loc.offset(packet.x, packet.y);
break;
}
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2 changes: 1 addition & 1 deletion libraries/GCS_MAVLink/GCS_Common.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2271,7 +2271,7 @@ void GCS_MAVLINK::send_local_position() const
const AP_AHRS &ahrs = AP::ahrs();

Vector3f local_position, velocity;
if (!ahrs.get_relative_position_NED_home(local_position) ||
if (!ahrs.get_relative_position_NED_origin(local_position) ||
!ahrs.get_velocity_NED(velocity)) {
// we don't know the position and velocity
return;
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