[paparazzi-commits] [paparazzi/paparazzi] c24b39: [modules][messages] mission: LLA waypoints in 1e7d...

[GitHub]

  Branch: refs/heads/master
  Home:   https://github.com/paparazzi/paparazzi
  Commit: c24b395589e56ac5ee45b7e6ce83ac21d6b4d425
      
https://github.com/paparazzi/paparazzi/commit/c24b395589e56ac5ee45b7e6ce83ac21d6b4d425
  Author: Felix Ruess <address@hidden>
  Date:   2014-11-26 (Wed, 26 Nov 2014)

  Changed paths:
    M conf/messages.xml
    M sw/airborne/modules/mission/mission_common.c
    M sw/airborne/modules/mission/mission_common.h
    M sw/airborne/modules/mission/mission_fw_nav.c
    M sw/airborne/modules/mission/mission_rotorcraft_nav.c

  Log Message:
  -----------
  [modules][messages] mission: LLA waypoints in 1e7deg instead of float

A 32bit float has 23bits for the mantissa, which is a bit more than 7 digits.
Since you already use 3 digits to represent the part to the left of the decimal 
point, that leaves about 4 digits for the rest..
So in the worst case of 180deg you have a resolution of only ~3m!

With 1e7deg 32bit int you get ~1cm resolution.

addresses first part of #984 (at least for the rotorcraft version, fixedwing 
version still converts to LLA float in between...)


  Commit: f15cd031e8788113c34119bf5dd7f21dfe47b04f
      
https://github.com/paparazzi/paparazzi/commit/f15cd031e8788113c34119bf5dd7f21dfe47b04f
  Author: Felix Ruess <address@hidden>
  Date:   2014-11-26 (Wed, 26 Nov 2014)

  Changed paths:
    M sw/airborne/modules/mission/mission_rotorcraft_nav.c

  Log Message:
  -----------
  [modules] mission_rotorcraft: only check for ned_initialized_i


  Commit: 1454b1a8f18efcee7218d8d47e0b617ef70412b1
      
https://github.com/paparazzi/paparazzi/commit/1454b1a8f18efcee7218d8d47e0b617ef70412b1
  Author: Felix Ruess <address@hidden>
  Date:   2014-11-26 (Wed, 26 Nov 2014)

  Changed paths:
    M conf/messages.xml
    M sw/airborne/modules/mission/mission_common.c
    M sw/airborne/modules/mission/mission_common.h
    M sw/airborne/modules/mission/mission_fw_nav.c
    M sw/airborne/modules/mission/mission_rotorcraft_nav.c

  Log Message:
  -----------
  Merge pull request #986 from paparazzi/mission_module_latlon_int

[modules][messages] mission: LLA waypoints in 1e7deg instead of float

A 32bit float has 23bits for the mantissa, which is a bit more than 7 digits.
Since you already use 3 digits to represent the part to the left of the decimal 
point, that leaves about 4 digits for the rest..
So in the worst case of 180deg you have a resolution of only ~3m!

With 1e7deg 32bit int you get ~1cm resolution.

In the fixedwing version LLA is still converted to float first, since we seem 
to miss functions to convert LLA to UTM in int or double...
At least it is better for rotorcraft and same as before for fixedwings...


Compare: 
https://github.com/paparazzi/paparazzi/compare/c0074af11dda...1454b1a8f18e