[navigation] implement global waypoints for rotorcraft #1065
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It looks fine for the rotorcraft part. |
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Sure, I can do that... but I was wondering if it is nicer to also create some "getter" functions that compute it on the fly if needed, or just update all possible representations each time a waypoint is updated... |
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I was suggesting this since WP are not moved very often, but getter functions are even better |
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Added computation of LLA on ENU waypoint set for now. But we should probably still add a getter function that computes it on demand if not already available (e.g. if origin is not already set from flight plan at startup). |
- each waypoint is a struct with multiple representations and flags (e.g. if absolute/global) - factor out waypoints in separate files so it can be shared between firmwares later
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Added nav_get_waypoint_lla function, that will compute the LLA representation if not already available. |
since users are likely to use this flight plan at their home location, don't add any global waypoints (using lat/lon) that won't be moved by GeoInit
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[navigation] implement global waypoints for rotorcraft - if a waypoint is defined with lat/lon instead of x/y in the flight plan, it is marked as an absolute/global waypoint and not moved upon GeoInit - each waypoint is a struct with multiple representations and flags (e.g. if absolute/global) - factor out waypoints in separate files so it can be shared between firmwares later Only for rotorcraft.
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A fix without UTM support for this for Fixedwing would be already much better. But probbably e wait for ABI to be finished ? |
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This is totally unrelated to ABI. |
Only for rotorcraft so far...