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AP_Common: Location: allow retrieval of Vector3p from vector-from-origin #27256

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Merged
merged 3 commits into from
Jun 11, 2024
Merged

AP_Common: Location: allow retrieval of Vector3p from vector-from-origin #27256

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ecbf57b
AP_HAL: move definition of HAL_WITH_POSTYPE_DOUBLE into AP_HAL_Boards.h
peterbarker Jun 6, 2024
2b23e3c
AP_Math: move definition of HAL_WITH_POSTYPE_DOUBLE into AP_HAL_Boards.h
peterbarker Jun 6, 2024
81e78a0
AP_Common: Location: allow retrieval of Vector3p from vector-from-origin
peterbarker Jun 6, 2024
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19 changes: 17 additions & 2 deletions libraries/AP_Common/Location.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -224,7 +224,8 @@ bool Location::get_alt_m(AltFrame desired_frame, float &ret_alt) const
#if AP_AHRS_ENABLED
// converts location to a vector from origin; if this method returns
// false then vec_ne is unmodified
bool Location::get_vector_xy_from_origin_NE(Vector2f &vec_ne) const
template<typename T>
bool Location::get_vector_xy_from_origin_NE(T &vec_ne) const
{
Location ekf_origin;
if (!AP::ahrs().get_origin(ekf_origin)) {
Expand All @@ -235,9 +236,16 @@ bool Location::get_vector_xy_from_origin_NE(Vector2f &vec_ne) const
return true;
}

// define for float and position vectors
template bool Location::get_vector_xy_from_origin_NE<Vector2f>(Vector2f &vec_ne) const;
#if HAL_WITH_POSTYPE_DOUBLE
template bool Location::get_vector_xy_from_origin_NE<Vector2p>(Vector2p &vec_ne) const;
#endif

// converts location to a vector from origin; if this method returns
// false then vec_neu is unmodified
bool Location::get_vector_from_origin_NEU(Vector3f &vec_neu) const
template<typename T>
bool Location::get_vector_from_origin_NEU(T &vec_neu) const
{
// convert altitude
int32_t alt_above_origin_cm = 0;
Expand All @@ -254,6 +262,13 @@ bool Location::get_vector_from_origin_NEU(Vector3f &vec_neu) const

return true;
}

// define for float and position vectors
template bool Location::get_vector_from_origin_NEU<Vector3f>(Vector3f &vec_neu) const;
#if HAL_WITH_POSTYPE_DOUBLE
template bool Location::get_vector_from_origin_NEU<Vector3p>(Vector3p &vec_neu) const;
#endif

#endif // AP_AHRS_ENABLED

// return horizontal distance in meters between two locations
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6 changes: 4 additions & 2 deletions libraries/AP_Common/Location.h
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Expand Up @@ -60,10 +60,12 @@ class Location
// happen if the EKF origin has not been set yet x, y and z are in
// centimetres. If this method returns false then vec_ne is
// unmodified.
bool get_vector_xy_from_origin_NE(Vector2f &vec_ne) const WARN_IF_UNUSED;
template<typename T>
bool get_vector_xy_from_origin_NE(T &vec_ne) const WARN_IF_UNUSED;
// converts location to a vector from origin; if this method returns
// false then vec_neu is unmodified
bool get_vector_from_origin_NEU(Vector3f &vec_neu) const WARN_IF_UNUSED;
template<typename T>
bool get_vector_from_origin_NEU(T &vec_neu) const WARN_IF_UNUSED;

// return horizontal distance in meters between two locations
ftype get_distance(const Location &loc2) const;
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4 changes: 4 additions & 0 deletions libraries/AP_HAL/AP_HAL_Boards.h
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Expand Up @@ -381,4 +381,8 @@
#error "HAL_GPIO_LED_OFF must not be defined, it is implicitly !HAL_GPIO_LED_ON"
#endif

#ifndef HAL_WITH_POSTYPE_DOUBLE
#define HAL_WITH_POSTYPE_DOUBLE BOARD_FLASH_SIZE > 1024
#endif

#define HAL_GPIO_LED_OFF (!HAL_GPIO_LED_ON)
4 changes: 0 additions & 4 deletions libraries/AP_Math/control.h
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Original file line number Diff line number Diff line change
Expand Up @@ -4,10 +4,6 @@
#include "vector2.h"
#include "vector3.h"

#ifndef HAL_WITH_POSTYPE_DOUBLE
#define HAL_WITH_POSTYPE_DOUBLE BOARD_FLASH_SIZE > 1024
#endif

#if HAL_WITH_POSTYPE_DOUBLE
typedef double postype_t;
typedef Vector2d Vector2p;
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