Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: use vector.xy().length() instead of norm(x,y)

This commit is contained in:
Josh Henderson 2021-09-11 06:25:53 -04:00 committed by Andrew Tridgell
parent 6dfbd9ce31
commit 46ec70f9fc
3 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/autoyaw.cpp
View File

@ -11,7 +11,7 @@ float Mode::AutoYaw::roi_yaw() const
float Mode::AutoYaw::look_ahead_yaw()
{
const Vector3f& vel = copter.inertial_nav.get_velocity();
float speed = norm(vel.x,vel.y);
float speed = vel.xy().length();
// Commanded Yaw to automatically look ahead.
if (copter.position_ok() && (speed > YAW_LOOK_AHEAD_MIN_SPEED)) {
_look_ahead_yaw = degrees(atan2f(vel.y,vel.x))*100.0f;

2
ArduCopter/land_detector.cpp
View File

@ -177,7 +177,7 @@ void Copter::update_throttle_mix()
// check for aggressive flight requests - requested roll or pitch angle below 15 degrees
const Vector3f angle_target = attitude_control->get_att_target_euler_cd();
bool large_angle_request = (norm(angle_target.x, angle_target.y) > LAND_CHECK_LARGE_ANGLE_CD);
bool large_angle_request = angle_target.xy().length() > LAND_CHECK_LARGE_ANGLE_CD;
// check for large external disturbance - angle error over 30 degrees
const float angle_error = attitude_control->get_att_error_angle_deg();

6
ArduCopter/mode.cpp
View File

@ -674,10 +674,10 @@ void Mode::land_run_horizontal_control()
// there is any position estimate drift after touchdown. We
// limit attitude to 7 degrees below this limit and linearly
// interpolate for 1m above that
float attitude_limit_cd = linear_interpolate(700, copter.aparm.angle_max, get_alt_above_ground_cm(),
const float attitude_limit_cd = linear_interpolate(700, copter.aparm.angle_max, get_alt_above_ground_cm(),
g2.wp_navalt_min*100U, (g2.wp_navalt_min+1)*100U);
float thrust_vector_max = sinf(radians(attitude_limit_cd / 100.0f)) * GRAVITY_MSS * 100.0f;
float thrust_vector_mag = norm(thrust_vector.x, thrust_vector.y);
const float thrust_vector_max = sinf(radians(attitude_limit_cd / 100.0f)) * GRAVITY_MSS * 100.0f;
const float thrust_vector_mag = thrust_vector.xy().length();
if (thrust_vector_mag > thrust_vector_max) {
float ratio = thrust_vector_max / thrust_vector_mag;
thrust_vector.x *= ratio;