From 2cd5519d5d8d5406e4c51cc2c157f5abdb509a19 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 2 Jun 2020 10:16:09 +1000 Subject: [PATCH] Copter: rename 2D rotation functions drop the rotate prefix --- ArduCopter/mode_flowhold.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduCopter/mode_flowhold.cpp b/ArduCopter/mode_flowhold.cpp index 45d14edab5..50879c6716 100644 --- a/ArduCopter/mode_flowhold.cpp +++ b/ArduCopter/mode_flowhold.cpp @@ -138,7 +138,7 @@ void ModeFlowHold::flowhold_flow_to_angle(Vector2f &bf_angles, bool stick_input) sensor_flow *= constrain_float(height_estimate, height_min, height_max); // rotate controller input to earth frame - Vector2f input_ef = copter.ahrs.rotate_body_to_earth2D(sensor_flow); + Vector2f input_ef = copter.ahrs.body_to_earth2D(sensor_flow); // run PI controller flow_pi_xy.set_input(input_ef); @@ -194,7 +194,7 @@ void ModeFlowHold::flowhold_flow_to_angle(Vector2f &bf_angles, bool stick_input) ef_output *= copter.aparm.angle_max; // convert to body frame - bf_angles += copter.ahrs.rotate_earth_to_body2D(ef_output); + bf_angles += copter.ahrs.earth_to_body2D(ef_output); // set limited flag to prevent integrator windup limited = fabsf(bf_angles.x) > copter.aparm.angle_max || fabsf(bf_angles.y) > copter.aparm.angle_max; @@ -400,7 +400,7 @@ void ModeFlowHold::update_height_estimate(void) } // convert delta velocity back to body frame to match the flow sensor - Vector2f delta_vel_bf = copter.ahrs.rotate_earth_to_body2D(delta_velocity_ne); + Vector2f delta_vel_bf = copter.ahrs.earth_to_body2D(delta_velocity_ne); // and convert to an rate equivalent, to be comparable to flow Vector2f delta_vel_rate(-delta_vel_bf.y, delta_vel_bf.x);