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AP_Beacon: update comments to clarify frame

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also minor formatting fix
This commit is contained in:
Randy Mackay 2020-08-19 09:06:35 +09:00
parent 716e7622be
commit 276e56e618
3 changed files with 11 additions and 10 deletions
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10
libraries/AP_Beacon/AP_Beacon_Backend.cpp
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@ -26,8 +26,8 @@ AP_Beacon_Backend::AP_Beacon_Backend(AP_Beacon &frontend) :
{ {
} }
// set vehicle position: // set vehicle position
// pos should be in the beacon's local frame in meters // pos should be in meters in NED frame from the beacon's local origin
// accuracy_estimate is also 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)
{ {
@ -36,7 +36,7 @@ void AP_Beacon_Backend::set_vehicle_position(const Vector3f& pos, float accuracy
_frontend.veh_pos_ned = correct_for_orient_yaw(pos); _frontend.veh_pos_ned = correct_for_orient_yaw(pos);
} }
// set individual beacon distance in meters // set individual beacon distance from vehicle in meters in NED frame
void AP_Beacon_Backend::set_beacon_distance(uint8_t beacon_instance, float distance) void AP_Beacon_Backend::set_beacon_distance(uint8_t beacon_instance, float distance)
{ {
// sanity check instance // sanity check instance
@ -54,8 +54,8 @@ void AP_Beacon_Backend::set_beacon_distance(uint8_t beacon_instance, float dista
_frontend.beacon_state[beacon_instance].healthy = true; _frontend.beacon_state[beacon_instance].healthy = true;
} }
// configure beacon's position in meters from origin // set beacon's position
// pos should be in the beacon's local frame (meters) // pos should be in meters in NED from the beacon's local origin
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

10
libraries/AP_Beacon/AP_Beacon_Backend.h
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@ -31,14 +31,16 @@ public:
// update // update
virtual void update() = 0; virtual void update() = 0;
// set vehicle position, pos should be in the beacon's local frame // set vehicle position
// pos should be in meters in NED frame from the beacon's local origin
// accuracy_estimate is also in meters
void set_vehicle_position(const Vector3f& pos, float accuracy_estimate); void set_vehicle_position(const Vector3f& pos, float accuracy_estimate);
// set individual beacon distance in meters // set individual beacon distance from vehicle in meters in NED frame
void set_beacon_distance(uint8_t beacon_instance, float distance); void set_beacon_distance(uint8_t beacon_instance, float distance);
// configure beacon's position in meters from origin // set beacon's position
// pos should be in the beacon's local frame // pos should be in meters in NED from the beacon's local origin
void set_beacon_position(uint8_t beacon_instance, const Vector3f& pos); void set_beacon_position(uint8_t beacon_instance, const Vector3f& pos);
float get_beacon_origin_lat(void) const { return _frontend.origin_lat; } float get_beacon_origin_lat(void) const { return _frontend.origin_lat; }

1
libraries/AP_Beacon/AP_Beacon_SITL.cpp
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@ -108,7 +108,6 @@ void AP_Beacon_SITL::update(void)
set_beacon_distance(beacon_id, beac_veh_offset.length()); set_beacon_distance(beacon_id, beac_veh_offset.length());
set_vehicle_position(veh_pos3d, 0.5f); set_vehicle_position(veh_pos3d, 0.5f);
last_update_ms = now; last_update_ms = now;
} }
#endif // CONFIG_HAL_BOARD #endif // CONFIG_HAL_BOARD