telemetry: add local position subscription #433
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Stifael
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| void print_position_velocity_local(Telemetry::PositionVelocityLocal position_velocity_local) | ||
| { | ||
| std::cout << "Got position north_m: " << position_velocity_local.north_m << " m, " |
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There is the unit m at the end so you don't need to write north_m as well.
| { | ||
| std::cout << "Got position north_m: " << position_velocity_local.north_m << " m, " | ||
| << "east_m: " << position_velocity_local.east_m << " m, " | ||
| << "donw_m: " << position_velocity_local.down_m << " m" << std::endl |
plugins/telemetry/telemetry.h
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| @@ -43,6 +43,21 @@ class Telemetry : public PluginBase { | |||
| float relative_altitude_m; /**< @brief Altitude relative to takeoff altitude in metres */ | |||
| }; | |||
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| /** | |||
| * @brief Position and velocity local type. | |||
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Please describe what it is for someone that doesn't know or understand PX4.
plugins/telemetry/telemetry.h
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| * @brief Position and velocity local type. | ||
| */ | ||
| struct PositionVelocityLocal { | ||
| float north_m; /**< @brief Position along north-direction of local frame in meters. */ |
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I don't think it's clear what is meant with north_m and north_m_s.
I think it would make more sense to have the structure like this:
struct LocalPositionNED {
float north_m;
float east_m;
float down_m
};
struct VelocityNED {
float north_m_s;
float east_m_s;
float down_m_s;
};
struct LocalPositionAndVelocity {
LocalPositionNED position;
VelocityNED velocity;
};
and maybe you can even share some of the types with other structs.
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I added the structure you suggested, but decided against using one of the other structures, despite the available velocity structure (GroundSpeedNED). The name GroundSpeedNED is contradicting because Speed implies that there is no direction information and the values always have to be positive (in contrast to velocity). However, NED implies the opposite that the quantity in question is velocity and not speed.
plugins/telemetry/telemetry.h
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| @@ -250,6 +273,14 @@ class Telemetry : public PluginBase { | |||
| */ | |||
| Result set_rate_rc_status(double rate_hz); | |||
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| /** | |||
| * @brief Set rate of position velocity local updates (asynchronous). | |||
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"position velocity local updates" is not clear what it means. The comments need to be proper sentences.
- rename struct from PositionVelocityLocal to PositionVelocityNED - PositionVelocityNED based on PositionNED and VelocityNED struct - Improve comments
Stifael
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Thanks @Stifael, I think this is good to go in. |
telemetry: add local position subscription
In progress:ToDo:
unit tests