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Fix takeoff altitude #5

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merged 1 commit into from
Apr 22, 2024
Merged

Fix takeoff altitude #5

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15 changes: 13 additions & 2 deletions adaptive_snowsampler/src/adaptive_snowsampler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -307,7 +307,7 @@ void AdaptiveSnowSampler::vehicleAttitudeCallback(const geometry_msgs::PoseStamp
}

void AdaptiveSnowSampler::vehicleGlobalPositionCallback(const sensor_msgs::NavSatFix &msg) {
if (!global_position_received_) global_position_received_=true;
if (!global_position_received_) global_position_received_ = true;
const double vehicle_latitude = msg.latitude;
const double vehicle_longitude = msg.longitude;
const double vehicle_altitude = msg.altitude; // Elliposoidal altitude
Expand Down Expand Up @@ -500,12 +500,23 @@ bool AdaptiveSnowSampler::startPositionCallback(planner_msgs::SetVector3::Reques

bool AdaptiveSnowSampler::takeoffCallback(planner_msgs::SetService::Request &request,
planner_msgs::SetService::Response &response) {
Eigen::Vector3d target_position_lv03 =
vehicle_position_ + Eigen::Vector3d(0.0, 0.0, relative_altitude_) + map_origin_;
double target_position_latitude;
double target_position_longitude;
double target_position_altitude;
target_position_lv03.z() = target_position_lv03.z() + relative_altitude_;
GeoConversions::reverse(target_position_lv03.x(), target_position_lv03.y(), target_position_lv03.z(),
target_position_latitude, target_position_longitude, target_position_altitude);
double target_position_amsl =
target_position_altitude -
GeographicLib::Geoid::GEOIDTOELLIPSOID * (*egm96_5)(target_position_latitude, target_position_longitude);
mavros_msgs::CommandLong msg;
msg.request.command = mavros_msgs::CommandCode::NAV_TAKEOFF;
msg.request.param1 = -1;
msg.request.param5 = NAN;
msg.request.param6 = NAN;
msg.request.param7 = vehicle_position_.z() + relative_altitude_;
msg.request.param7 = target_position_amsl;
std::cout << "Vehicle commanded altitude: " << vehicle_position_.z() + relative_altitude_ << std::endl;
mavcmd_long_service_client_.call(msg);

Expand Down
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