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Copter: rename 2D rotation functions

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drop the rotate prefix
This commit is contained in:
Andrew Tridgell 2020-06-02 10:16:09 +10:00
parent d7b20c6e48
commit 2cd5519d5d
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/mode_flowhold.cpp
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@ -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); sensor_flow *= constrain_float(height_estimate, height_min, height_max);
// rotate controller input to earth frame // 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 // run PI controller
flow_pi_xy.set_input(input_ef); 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; ef_output *= copter.aparm.angle_max;
// convert to body frame // 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 // set limited flag to prevent integrator windup
limited = fabsf(bf_angles.x) > copter.aparm.angle_max || fabsf(bf_angles.y) > copter.aparm.angle_max; 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 // 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 // and convert to an rate equivalent, to be comparable to flow
Vector2f delta_vel_rate(-delta_vel_bf.y, delta_vel_bf.x); Vector2f delta_vel_rate(-delta_vel_bf.y, delta_vel_bf.x);