Feature Request
Feature request
Is your feature request related to a problem? Please describe.
Problem 1: Some Sub function parameters, e.g,. destination in ModeGuided::guided_set_destination(const Vector3f& destination), are in cm, but are not marked as such. This is error-prone.
Problem 2: Sub depends on libraries such as AC_PosControl, which is migrating (has migrated) to meters. The Sub code will be smaller and easier to read if we migrate from cm to m and from NEU to NED.
Describe the solution you'd like
Follow the 2-phase approach that has been used by AC_PosControl:
Phase 1: Add suffixes, e.g., _cm and _NEU where they don't exist.
Phase 2: Convert from cm to m and NEU to NED.
Describe alternatives you've considered
We could do this slowly, e.g., per feature, but this will take a long time, and will encumber future PRs. Better to do this all at once.
Platform
Additional context
This will cause a bunch of churn, so it would be better to do this after 4.7 has launched.
Feature Request
Feature request
Is your feature request related to a problem? Please describe.
Problem 1: Some Sub function parameters, e.g,.
destinationinModeGuided::guided_set_destination(const Vector3f& destination), are in cm, but are not marked as such. This is error-prone.Problem 2: Sub depends on libraries such as
AC_PosControl, which is migrating (has migrated) to meters. The Sub code will be smaller and easier to read if we migrate from cm to m and from NEU to NED.Describe the solution you'd like
Follow the 2-phase approach that has been used by
AC_PosControl:Phase 1: Add suffixes, e.g.,
_cmand_NEUwhere they don't exist.Phase 2: Convert from cm to m and NEU to NED.
Describe alternatives you've considered
We could do this slowly, e.g., per feature, but this will take a long time, and will encumber future PRs. Better to do this all at once.
Platform
Additional context
This will cause a bunch of churn, so it would be better to do this after 4.7 has launched.