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AP_Beacon: added units in the comments documentation, to make the API easier to use

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Dr.-Ing. Amilcar Do Carmo Lucas 2017-05-08 17:34:55 +02:00 committed by Randy Mackay
parent 8f7b9323d2
commit 119696bea3
3 changed files with 13 additions and 11 deletions
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8
libraries/AP_Beacon/AP_Beacon.cpp
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@ -128,7 +128,7 @@ bool AP_Beacon::get_origin(Location &origin_loc) const
return false; return false;
} }
// check for unitialised origin // check for un-initialised origin
if (is_zero(origin_lat) && is_zero(origin_lon) && is_zero(origin_alt)) { if (is_zero(origin_lat) && is_zero(origin_lon) && is_zero(origin_alt)) {
return false; return false;
} }
@ -142,7 +142,7 @@ bool AP_Beacon::get_origin(Location &origin_loc) const
return true; return true;
} }
// return position in NED from position estimate system's origin // return position in NED from position estimate system's origin in meters
bool AP_Beacon::get_vehicle_position_ned(Vector3f &position, float& accuracy_estimate) const bool AP_Beacon::get_vehicle_position_ned(Vector3f &position, float& accuracy_estimate) const
{ {
if (!device_ready()) { if (!device_ready()) {
@ -206,7 +206,7 @@ float AP_Beacon::beacon_distance(uint8_t beacon_instance) const
return beacon_state[beacon_instance].distance; return beacon_state[beacon_instance].distance;
} }
// return beacon position // return beacon position in meters
Vector3f AP_Beacon::beacon_position(uint8_t beacon_instance) const Vector3f AP_Beacon::beacon_position(uint8_t beacon_instance) const
{ {
if (!device_ready() || beacon_instance >= num_beacons) { if (!device_ready() || beacon_instance >= num_beacons) {
@ -216,7 +216,7 @@ Vector3f AP_Beacon::beacon_position(uint8_t beacon_instance) const
return beacon_state[beacon_instance].position; return beacon_state[beacon_instance].position;
} }
// return last update time from beacon // return last update time from beacon in milliseconds
uint32_t AP_Beacon::beacon_last_update_ms(uint8_t beacon_instance) const uint32_t AP_Beacon::beacon_last_update_ms(uint8_t beacon_instance) const
{ {
if (_type == AP_BeaconType_None || beacon_instance >= num_beacons) { if (_type == AP_BeaconType_None || beacon_instance >= num_beacons) {

8
libraries/AP_Beacon/AP_Beacon.h
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@ -61,10 +61,10 @@ public:
// update state of all beacons // update state of all beacons
void update(void); void update(void);
// return origin of position estimate system // return origin of position estimate system in lat/lon
bool get_origin(Location &origin_loc) const; bool get_origin(Location &origin_loc) const;
// return vehicle position in NED from position estimate system's origin // return vehicle position in NED from position estimate system's origin in meters
bool get_vehicle_position_ned(Vector3f& pos, float& accuracy_estimate) const; bool get_vehicle_position_ned(Vector3f& pos, float& accuracy_estimate) const;
// return the number of beacons // return the number of beacons
@ -84,10 +84,10 @@ public:
// return distance to beacon in meters // return distance to beacon in meters
float beacon_distance(uint8_t beacon_instance) const; float beacon_distance(uint8_t beacon_instance) const;
// return NED position of beacon relative to the beacon systems origin // return NED position of beacon in meters relative to the beacon systems origin
Vector3f beacon_position(uint8_t beacon_instance) const; Vector3f beacon_position(uint8_t beacon_instance) const;
// return last update time from beacon // return last update time from beacon in milliseconds
uint32_t beacon_last_update_ms(uint8_t beacon_instance) const; uint32_t beacon_last_update_ms(uint8_t beacon_instance) const;
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];

8
libraries/AP_Beacon/AP_Beacon_Backend.cpp
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@ -26,7 +26,9 @@ AP_Beacon_Backend::AP_Beacon_Backend(AP_Beacon &frontend) :
{ {
} }
// set vehicle position, pos should be in the beacon's local frame // set vehicle position:
// pos should be in the beacon's local frame in meters
// accuracy_estimate is also in meters
void AP_Beacon_Backend::set_vehicle_position(const Vector3f& pos, float accuracy_estimate) void AP_Beacon_Backend::set_vehicle_position(const Vector3f& pos, float accuracy_estimate)
{ {
_frontend.veh_pos_update_ms = AP_HAL::millis(); _frontend.veh_pos_update_ms = AP_HAL::millis();
@ -53,7 +55,7 @@ void AP_Beacon_Backend::set_beacon_distance(uint8_t beacon_instance, float dista
} }
// configure beacon's position in meters from origin // configure beacon's position in meters from origin
// pos should be in the beacon's local frame // pos should be in the beacon's local frame (meters)
void AP_Beacon_Backend::set_beacon_position(uint8_t beacon_instance, const Vector3f& pos) void AP_Beacon_Backend::set_beacon_position(uint8_t beacon_instance, const Vector3f& pos)
{ {
// sanity check instance // sanity check instance
@ -70,7 +72,7 @@ void AP_Beacon_Backend::set_beacon_position(uint8_t beacon_instance, const Vecto
_frontend.beacon_state[beacon_instance].position = correct_for_orient_yaw(pos); _frontend.beacon_state[beacon_instance].position = correct_for_orient_yaw(pos);
} }
// rotate vector to correct for beacon system yaw orientation // rotate vector (meters) to correct for beacon system yaw orientation
Vector3f AP_Beacon_Backend::correct_for_orient_yaw(const Vector3f &vector) Vector3f AP_Beacon_Backend::correct_for_orient_yaw(const Vector3f &vector)
{ {
// exit immediately if no correction // exit immediately if no correction