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Revert "mavlink: GLOBAL_POSITION_INT send without lat/lon availability" #15396

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Jul 22, 2020
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Revert "mavlink: GLOBAL_POSITION_INT send without lat/lon availability" #15396

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53 changes: 17 additions & 36 deletions src/modules/mavlink/mavlink_messages.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2424,71 +2424,52 @@ class MavlinkStreamGlobalPositionInt : public MavlinkStream

bool send(const hrt_abstime t) override
{
vehicle_global_position_s gpos;
vehicle_local_position_s lpos;

if (_lpos_sub.update(&lpos)) {
mavlink_global_position_int_t msg{};
if (_gpos_sub.update(&gpos) && _lpos_sub.update(&lpos)) {

// time_boot_ms: Timestamp (time since system boot) in ms.
msg.time_boot_ms = lpos.timestamp / 1000;
mavlink_global_position_int_t msg{};

// alt: Altitude (MSL) in mm.
if (lpos.z_valid && lpos.z_global) {
msg.alt = (-lpos.z + lpos.ref_alt) * 1000.f;
msg.alt = (-lpos.z + lpos.ref_alt) * 1000.0f;

} else {
// fall back to baro altitude
vehicle_air_data_s air_data{};
_air_data_sub.copy(&air_data);

if (_air_data_sub.copy(&air_data) && (hrt_elapsed_time(&air_data.timestamp) < 10_s)) {
msg.alt = air_data.baro_alt_meter * 1000.f;
if (air_data.timestamp > 0) {
msg.alt = air_data.baro_alt_meter * 1000.0f;
}
}

// relative_alt: Altitude above ground in mm
home_position_s home{};
_home_sub.copy(&home);

if ((home.timestamp > 0) && home.valid_alt) {
if (lpos.z_valid) {
msg.relative_alt = -(lpos.z - home.z) * 1000.f;
msg.relative_alt = -(lpos.z - home.z) * 1000.0f;

} else {
msg.relative_alt = msg.alt - (home.alt * 1000.f);
msg.relative_alt = msg.alt - (home.alt * 1000.0f);
}

} else {
if (lpos.z_valid) {
msg.relative_alt = -lpos.z * 1000.f;
msg.relative_alt = -lpos.z * 1000.0f;
}
}

// lat, lon: Latitude, Longitude in degE7
vehicle_global_position_s gpos{};

if (_gpos_sub.copy(&gpos) && (hrt_elapsed_time(&gpos.timestamp) < 10_s)) {
msg.lat = gpos.lat * 1e7;
msg.lon = gpos.lon * 1e7;
}

// vx, vy: Ground X, Y Speed (Latitude, positive north) in cm/s
if (lpos.v_xy_valid) {
msg.vx = lpos.vx * 100.f;
msg.vy = lpos.vy * 100.f;
}

// vz: Ground Z Speed (Altitude, positive down) in cm/s
if (lpos.v_z_valid) {
msg.vz = lpos.vz * 100.f;
}
msg.time_boot_ms = gpos.timestamp / 1000;
msg.lat = gpos.lat * 1e7;
msg.lon = gpos.lon * 1e7;

// hdg: Vehicle heading (yaw angle) in cdeg, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
if (PX4_ISFINITE(lpos.yaw)) {
msg.hdg = math::degrees(wrap_2pi(lpos.yaw)) * 100.f;
msg.vx = lpos.vx * 100.0f;
msg.vy = lpos.vy * 100.0f;
msg.vz = lpos.vz * 100.0f;

} else {
msg.hdg = UINT16_MAX;
}
msg.hdg = math::degrees(wrap_2pi(lpos.yaw)) * 100.0f;

mavlink_msg_global_position_int_send_struct(_mavlink->get_channel(), &msg);

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