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AC_WPNav: adjust for Location_Class and Location unification

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This commit is contained in:
Peter Barker 2019-01-02 14:10:51 +11:00 committed by Peter Barker
parent b4c65dde92
commit 0215aff8f4
2 changed files with 11 additions and 11 deletions
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14
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -183,7 +183,7 @@ void AC_WPNav::set_speed_z(float speed_down_cms, float speed_up_cms)
/// set_wp_destination waypoint using location class
/// returns false if conversion from location to vector from ekf origin cannot be calculated
bool AC_WPNav::set_wp_destination(const Location_Class& destination)
bool AC_WPNav::set_wp_destination(const Location& destination)
{
bool terr_alt;
Vector3f dest_neu;
@ -197,7 +197,7 @@ bool AC_WPNav::set_wp_destination(const Location_Class& destination)
return set_wp_destination(dest_neu, terr_alt);
}
bool AC_WPNav::get_wp_destination(Location_Class& destination) {
bool AC_WPNav::get_wp_destination(Location& destination) {
Vector3f dest = get_wp_destination();
if (!AP::ahrs().get_origin(destination)) {
return false;
@ -620,7 +620,7 @@ void AC_WPNav::set_yaw_cd(float heading_cd)
/// stopped_at_start should be set to true if vehicle is stopped at the origin
/// seg_end_type should be set to stopped, straight or spline depending upon the next segment's type
/// next_destination should be set to the next segment's destination if the seg_end_type is SEGMENT_END_STRAIGHT or SEGMENT_END_SPLINE
bool AC_WPNav::set_spline_destination(const Location_Class& destination, bool stopped_at_start, spline_segment_end_type seg_end_type, Location_Class next_destination)
bool AC_WPNav::set_spline_destination(const Location& destination, bool stopped_at_start, spline_segment_end_type seg_end_type, Location next_destination)
{
// convert destination location to vector
Vector3f dest_neu;
@ -991,7 +991,7 @@ bool AC_WPNav::get_terrain_offset(float& offset_cm)
// convert location to vector from ekf origin. terrain_alt is set to true if resulting vector's z-axis should be treated as alt-above-terrain
// returns false if conversion failed (likely because terrain data was not available)
bool AC_WPNav::get_vector_NEU(const Location_Class &loc, Vector3f &vec, bool &terrain_alt)
bool AC_WPNav::get_vector_NEU(const Location &loc, Vector3f &vec, bool &terrain_alt)
{
// convert location to NE vector2f
Vector2f res_vec;
@ -1000,9 +1000,9 @@ bool AC_WPNav::get_vector_NEU(const Location_Class &loc, Vector3f &vec, bool &te
}
// convert altitude
if (loc.get_alt_frame() == Location_Class::ALT_FRAME_ABOVE_TERRAIN) {
if (loc.get_alt_frame() == Location::ALT_FRAME_ABOVE_TERRAIN) {
int32_t terr_alt;
if (!loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, terr_alt)) {
if (!loc.get_alt_cm(Location::ALT_FRAME_ABOVE_TERRAIN, terr_alt)) {
return false;
}
vec.z = terr_alt;
@ -1010,7 +1010,7 @@ bool AC_WPNav::get_vector_NEU(const Location_Class &loc, Vector3f &vec, bool &te
} else {
terrain_alt = false;
int32_t temp_alt;
if (!loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_ORIGIN, temp_alt)) {
if (!loc.get_alt_cm(Location::ALT_FRAME_ABOVE_ORIGIN, temp_alt)) {
return false;
}
vec.z = temp_alt;

8
libraries/AC_WPNav/AC_WPNav.h
View File

@ -104,12 +104,12 @@ public:
/// set_wp_destination waypoint using location class
/// returns false if conversion from location to vector from ekf origin cannot be calculated
bool set_wp_destination(const Location_Class& destination);
bool set_wp_destination(const Location& destination);
// returns wp location using location class.
// returns false if unable to convert from target vector to global
// coordinates
bool get_wp_destination(Location_Class& destination);
bool get_wp_destination(Location& destination);
/// set_wp_destination waypoint using position vector (distance from ekf origin in cm)
/// terrain_alt should be true if destination.z is a desired altitude above terrain
@ -184,7 +184,7 @@ public:
/// stopped_at_start should be set to true if vehicle is stopped at the origin
/// seg_end_type should be set to stopped, straight or spline depending upon the next segment's type
/// next_destination should be set to the next segment's destination if the seg_end_type is SEGMENT_END_STRAIGHT or SEGMENT_END_SPLINE
bool set_spline_destination(const Location_Class& destination, bool stopped_at_start, spline_segment_end_type seg_end_type, Location_Class next_destination);
bool set_spline_destination(const Location& destination, bool stopped_at_start, spline_segment_end_type seg_end_type, Location next_destination);
/// set_spline_destination waypoint using position vector (distance from ekf origin in cm)
/// returns false if conversion from location to vector from ekf origin cannot be calculated
@ -267,7 +267,7 @@ protected:
// convert location to vector from ekf origin. terrain_alt is set to true if resulting vector's z-axis should be treated as alt-above-terrain
// returns false if conversion failed (likely because terrain data was not available)
bool get_vector_NEU(const Location_Class &loc, Vector3f &vec, bool &terrain_alt);
bool get_vector_NEU(const Location &loc, Vector3f &vec, bool &terrain_alt);
// set heading used for spline and waypoint navigation
void set_yaw_cd(float heading_cd);