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added gpsPosition to gpsProcessedData
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This commit is contained in:
Marius Eggert
2023-01-11 13:42:48 +01:00
parent ac83e66016
commit a2626afebb
4 changed files with 9 additions and 7 deletions
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10
mission/controller/acs/SensorProcessing.cpp
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@ -546,7 +546,7 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
const AcsParameters::GpsParameters *gpsParameters,
acsctrl::GpsDataProcessed *gpsDataProcessed) {
// name to convert not process
double gdLongitude, gcLatitude;
double gdLongitude = 0, gcLatitude = 0, posSatE[3] = {0, 0, 0}, gpsVelocityE[3] = {0, 0, 0};
if (validGps) {
// Transforming from Degree to Radians and calculation geocentric lattitude from geodetic
gdLongitude = gpsLongitude * PI / 180.;
@ -576,11 +576,9 @@ void SensorProcessing::processGps(const double gpsLatitude, const double gpsLong
if (pg.getReadResult() == returnvalue::OK) {
gpsDataProcessed->gdLongitude.value = gdLongitude;
gpsDataProcessed->gcLatitude.value = gcLatitude;
gpsDataProcessed->setValidity(validGps, validGps);
if (!validGps) {
gpsDataProcessed->gdLongitude.value = 0.0;
gpsDataProcessed->gcLatitude.value = 0.0;
}
std::memcpy(gpsDataProcessed->gpsPosition.value, posSatE, 3 * sizeof(double));
std::memcpy(gpsDataProcessed->gpsVelocity.value, gpsVelocityE, 3 * sizeof(double));
gpsDataProcessed->setValidity(validGps, true);
}
}
}