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AP_Beacon_Marvelmind: Refactor variables

This commit is contained in:
Karthik Desai 2018-05-18 15:42:08 +02:00 committed by Francisco Ferreira
parent 358b3d222b
commit 64fdefe7cf
2 changed files with 8 additions and 8 deletions
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12
libraries/AP_Beacon/AP_Beacon_Marvelmind.cpp
View File

@ -142,9 +142,9 @@ void AP_Beacon_Marvelmind::process_beacons_positions_datagram()
stationary_beacon = get_or_alloc_beacon(address);
if (stationary_beacon != nullptr) {
stationary_beacon->address = address; //The instance and the address are the same
stationary_beacon->x = x * 10; // centimeters -> millimeters
stationary_beacon->y = y * 10; // centimeters -> millimeters
stationary_beacon->z = z * 10; // centimeters -> millimeters
stationary_beacon->x__mm = x * 10; // centimeters -> millimeters
stationary_beacon->y__mm = y * 10; // centimeters -> millimeters
stationary_beacon->z__mm = z * 10; // centimeters -> millimeters
stationary_beacon->high_resolution = false;
hedge.positions_beacons.updated = true;
}
@ -177,9 +177,9 @@ void AP_Beacon_Marvelmind::process_beacons_positions_highres_datagram()
stationary_beacon = get_or_alloc_beacon(address);
if (stationary_beacon != nullptr) {
stationary_beacon->address = address; //The instance and the address are the same
stationary_beacon->x = x; // millimeters
stationary_beacon->y = y; // millimeters
stationary_beacon->z = z; // millimeters
stationary_beacon->x__mm = x; // millimeters
stationary_beacon->y__mm = y; // millimeters
stationary_beacon->z__mm = z; // millimeters
stationary_beacon->high_resolution = true;
hedge.positions_beacons.updated = true;
}

4
libraries/AP_Beacon/AP_Beacon_Marvelmind.h
View File

@ -43,14 +43,14 @@ private:
{
uint8_t address;
uint32_t timestamp;
int32_t x, y, z; // coordinates in millimeters
int32_t x__mm, y__mm, z__mm;
bool high_resolution;
};
struct StationaryBeaconPosition
{
uint8_t address;
int32_t x, y, z;// coordinates in millimeters
int32_t x__mm, y__mm, z__mm;
bool high_resolution;
float distance__m; // Distance between beacon and hedge
};