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

AP_Landing: rename AP_AHRS::get_position to get_location

This commit is contained in:
Peter Barker 2022-01-21 10:42:40 +11:00 committed by Andrew Tridgell
parent cd88ec65fa
commit 6b1e20916b
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_Landing/AP_Landing_Deepstall.cpp
View File

@ -290,7 +290,7 @@ bool AP_Landing_Deepstall::verify_land(const Location &prev_WP_loc, Location &ne
height_above_target = -height_above_target;
} else {
Location position;
if (landing.ahrs.get_position(position)) {
if (landing.ahrs.get_location(position)) {
height_above_target = (position.alt - landing_point.alt + approach_alt_offset * 100) * 1e-2f;
} else {
height_above_target = approach_alt_offset;
@ -487,7 +487,7 @@ bool AP_Landing_Deepstall::terminate(void) {
landing.flags.in_progress = true;
stage = DEEPSTALL_STAGE_LAND;
if(landing.ahrs.get_position(landing_point)) {
if(landing.ahrs.get_location(landing_point)) {
build_approach_path(true);
} else {
hold_level = true;
@ -613,7 +613,7 @@ bool AP_Landing_Deepstall::verify_breakout(const Location &current_loc, const Lo
float AP_Landing_Deepstall::update_steering()
{
Location current_loc;
if ((!landing.ahrs.get_position(current_loc) || !landing.ahrs.healthy()) && !hold_level) {
if ((!landing.ahrs.get_location(current_loc) || !landing.ahrs.healthy()) && !hold_level) {
// panic if no position source is available
// continue the stall but target just holding the wings held level as deepstall should be a minimal
// energy configuration on the aircraft, and if a position isn't available aborting would be worse