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AP_InertialNav: rename for neu & cm/cms

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Josh Henderson 2021-10-20 04:33:14 -04:00 committed by Andrew Tridgell
parent e10edabd5d
commit 04ba26a080
2 changed files with 41 additions and 45 deletions
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46
libraries/AP_InertialNav/AP_InertialNav.cpp
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@ -52,75 +52,73 @@ nav_filter_status AP_InertialNav::get_filter_status() const
} }
/** /**
* get_position - returns the current position relative to the home location in cm. * get_position_neu_cm - returns the current position relative to the home location in cm.
* *
* @return * @return
*/ */
const Vector3f &AP_InertialNav::get_position(void) const const Vector3f &AP_InertialNav::get_position_neu_cm(void) const
{ {
return _relpos_cm; return _relpos_cm;
} }
/** /**
* get_position_xy - returns the current x-y position relative to the home location in cm. * get_position_xy_cm - returns the current x-y position relative to the home location in cm.
* *
* @return * @return
*/ */
const Vector2f &AP_InertialNav::get_position_xy() const const Vector2f &AP_InertialNav::get_position_xy_cm() const
{ {
return _relpos_cm.xy(); return _relpos_cm.xy();
} }
/** /**
* get_velocity - returns the current velocity in cm/s * get_position_z_up_cm - returns the current z position relative to the home location, frame z-axis up, in cm.
* @return
*/
float AP_InertialNav::get_position_z_up_cm() const
{
return _relpos_cm.z;
}
/**
* get_velocity_neu_cms - returns the current velocity in cm/s
* *
* @return velocity vector: * @return velocity vector:
* .x : latitude velocity in cm/s * .x : latitude velocity in cm/s
* .y : longitude velocity in cm/s * .y : longitude velocity in cm/s
* .z : vertical velocity in cm/s * .z : vertical velocity in cm/s
*/ */
const Vector3f &AP_InertialNav::get_velocity() const const Vector3f &AP_InertialNav::get_velocity_neu_cms() const
{ {
return _velocity_cm; return _velocity_cm;
} }
/** /**
* get_velocity_xy - returns the current x-y velocity relative to the home location in cm. * get_velocity_xy_cms - returns the current x-y velocity relative to the home location in cm.
* *
* @return * @return
*/ */
const Vector2f &AP_InertialNav::get_velocity_xy() const const Vector2f &AP_InertialNav::get_velocity_xy_cms() const
{ {
return _velocity_cm.xy(); return _velocity_cm.xy();
} }
/** /**
* get_speed_xy - returns the current horizontal speed in cm/s * get_speed_xy_cms - returns the current horizontal speed in cm/s
* *
* @returns the current horizontal speed in cm/s * @returns the current horizontal speed in cm/s
*/ */
float AP_InertialNav::get_speed_xy() const float AP_InertialNav::get_speed_xy_cms() const
{ {
return _velocity_cm.xy().length(); return _velocity_cm.xy().length();
} }
/** /**
* get_altitude - get latest altitude estimate in cm * get_velocity_z_up_cms - returns the current z-axis velocity, frame z-axis up, in cm/s
* @return
*/
float AP_InertialNav::get_altitude() const
{
return _relpos_cm.z;
}
/**
* get_velocity_z - returns the current climbrate.
* *
* @see get_velocity().z * @return z-axis velocity, frame z-axis up, in cm/s
*
* @return climbrate in cm/s
*/ */
float AP_InertialNav::get_velocity_z() const float AP_InertialNav::get_velocity_z_up_cms() const
{ {
return _velocity_cm.z; return _velocity_cm.z;
} }

40
libraries/AP_InertialNav/AP_InertialNav.h
View File

@ -27,59 +27,57 @@ public:
nav_filter_status get_filter_status() const; nav_filter_status get_filter_status() const;
/** /**
* get_position - returns the current position relative to the home location in cm. * get_position_neu_cm - returns the current position relative to the home location in cm.
* *
* the home location was set with AP_InertialNav::set_home_position(int32_t, int32_t) * the home location was set with AP_InertialNav::set_home_position(int32_t, int32_t)
* *
* @return * @return
*/ */
const Vector3f& get_position() const; const Vector3f& get_position_neu_cm() const;
/** /**
* get_position_xy - returns the current x-y position relative to the home location in cm. * get_position_xy_cm - returns the current x-y position relative to the home location in cm.
* *
* @return * @return
*/ */
const Vector2f& get_position_xy() const; const Vector2f& get_position_xy_cm() const;
/** /**
* get_velocity - returns the current velocity in cm/s * get_position_z_up_cm - returns the current z position relative to the home location, frame z up, in cm.
* @return
*/
float get_position_z_up_cm() const;
/**
* get_velocity_neu_cms - returns the current velocity in cm/s
* *
* @return velocity vector: * @return velocity vector:
* .x : latitude velocity in cm/s * .x : latitude velocity in cm/s
* .y : longitude velocity in cm/s * .y : longitude velocity in cm/s
* .z : vertical velocity in cm/s * .z : vertical velocity in cm/s
*/ */
const Vector3f& get_velocity() const; const Vector3f& get_velocity_neu_cms() const;
/** /**
* get_velocity_xy - returns the current x-y velocity relative to the home location in cm. * get_velocity_xy_cms - returns the current x-y velocity relative to the home location in cm.
* *
* @return * @return
*/ */
const Vector2f& get_velocity_xy() const; const Vector2f& get_velocity_xy_cms() const;
/** /**
* get_speed_xy - returns the current horizontal speed in cm/s * get_speed_xy_cms - returns the current horizontal speed in cm/s
* *
* @returns the current horizontal speed in cm/s * @returns the current horizontal speed in cm/s
*/ */
float get_speed_xy() const; float get_speed_xy_cms() const;
/** /**
* get_altitude - get latest altitude estimate in cm * get_velocity_z_up_cms - returns the current z-axis velocity, frame z-axis up, in cm/s
* @return
*/
float get_altitude() const;
/**
* get_velocity_z - returns the current climbrate.
* *
* @see get_velocity().z * @return z-axis velocity, frame z-axis up, in cm/s
*
* @return climbrate in cm/s
*/ */
float get_velocity_z() const; float get_velocity_z_up_cms() const;
private: private:
Vector3f _relpos_cm; // NEU Vector3f _relpos_cm; // NEU