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AP_Proximity: minor format fix

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This commit is contained in:
Randy Mackay 2022-07-07 17:25:16 +09:00
parent 1dd2fb695c
commit 63db93c6d7
1 changed files with 1 additions and 1 deletions
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libraries/AP_Proximity/AP_Proximity_Boundary_3D.cpp
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@ -46,7 +46,7 @@ void AP_Proximity_Boundary_3D::init()
// pitch is the vertical body-frame angle (in degrees) to the obstacle (0=directly ahead, 90 is above the vehicle) // pitch is the vertical body-frame angle (in degrees) to the obstacle (0=directly ahead, 90 is above the vehicle)
// yaw is the horizontal body-frame angle (in degrees) to the obstacle (0=directly ahead of the vehicle, 90 is to the right of the vehicle) // yaw is the horizontal body-frame angle (in degrees) to the obstacle (0=directly ahead of the vehicle, 90 is to the right of the vehicle)
AP_Proximity_Boundary_3D::Face AP_Proximity_Boundary_3D::get_face(float pitch, float yaw) const AP_Proximity_Boundary_3D::Face AP_Proximity_Boundary_3D::get_face(float pitch, float yaw) const
{ {
const uint8_t sector = wrap_360(yaw + (PROXIMITY_SECTOR_WIDTH_DEG * 0.5f)) / 45.0f; const uint8_t sector = wrap_360(yaw + (PROXIMITY_SECTOR_WIDTH_DEG * 0.5f)) / 45.0f;
const float pitch_limited = constrain_float(pitch, -75.0f, 74.9f); const float pitch_limited = constrain_float(pitch, -75.0f, 74.9f);
const uint8_t layer = (pitch_limited + 75.0f)/PROXIMITY_PITCH_WIDTH_DEG; const uint8_t layer = (pitch_limited + 75.0f)/PROXIMITY_PITCH_WIDTH_DEG;