AP_DDS: GeoPose Publisher#23540
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peterbarker merged 1 commit intoArduPilot:masterfrom May 5, 2023
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Ryanf55
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Apr 20, 2023
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Updated the orientation to follow what was agreed on #23480. Code comments were updated accordingly. |
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* Add GeoPoint.idl * Add GeoPose.idl * Add GeoPoseStamped.idl * Update geopose topic name to follow ArduPilot#23603 * Add GeoPose topic support Co-authored-by: Pedro Fuoco <pedrofuoco6@gmail.com> Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
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Ryanf55
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LGTM, I rebased and updated the code style and tested it on UDP.
./Tools/CodeStyle/ardupilot-astyle.sh --options=Tools/CodeStyle/astylerc libraries/AP_DDS/*.cpp libraries/AP_DDS/*.hMake sure your commits have a blank line between the first line and any further details.
AP_DDS: Add geographic_msgs
* Add GeoPoint.idl
* Add GeoPose.idl
* Add GeoPoseStamped.idl
I also added some spaces after operators to comply with the style guide. This is something that astyle doesn't do for you automatically.
Quaternion aux(orientation[0], orientation[2], orientation[1], -orientation[3]); //NED to ENU transformation
Quaternion transformation(sqrt(2) / 2, 0, 0, sqrt(2) / 2); // Z axis 90 degree rotationI squashed all the commits with the formatting. Approved
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@Ryanf55 Thanks a lot for the insights, I will surely keep it all in mind for my future contributions! |
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Lovely work. |
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Resolves #23534, here is the PR working on SITL:
Uses the same orientation logic as #23480 since both follow ENU