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Rover: make AHRS attitude member variables private

This commit is contained in:
Peter Barker 2024-01-13 01:02:12 +11:00 committed by Peter Barker
parent bcf6578d56
commit 6ca3f31143
4 changed files with 8 additions and 8 deletions
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2
Rover/crash_check.cpp
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@ -20,7 +20,7 @@ void Rover::crash_check()
} }
// Crashed if pitch/roll > crash_angle // Crashed if pitch/roll > crash_angle
if ((g2.crash_angle != 0) && ((fabsf(ahrs.pitch) > radians(g2.crash_angle)) || (fabsf(ahrs.roll) > radians(g2.crash_angle)))) { if ((g2.crash_angle != 0) && ((fabsf(ahrs.get_pitch()) > radians(g2.crash_angle)) || (fabsf(ahrs.get_roll()) > radians(g2.crash_angle)))) {
crashed = true; crashed = true;
} }

2
Rover/mode.cpp
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@ -290,7 +290,7 @@ void Mode::calc_throttle(float target_speed, bool avoidance_enabled)
// apply object avoidance to desired speed using half vehicle's maximum deceleration // apply object avoidance to desired speed using half vehicle's maximum deceleration
if (avoidance_enabled) { if (avoidance_enabled) {
g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_decel_max(), ahrs.yaw, target_speed, rover.G_Dt); g2.avoid.adjust_speed(0.0f, 0.5f * attitude_control.get_decel_max(), ahrs.get_yaw(), target_speed, rover.G_Dt);
if (g2.sailboat.tack_enabled() && g2.avoid.limits_active()) { if (g2.sailboat.tack_enabled() && g2.avoid.limits_active()) {
// we are a sailboat trying to avoid fence, try a tack // we are a sailboat trying to avoid fence, try a tack
if (rover.control_mode != &rover.mode_acro) { if (rover.control_mode != &rover.mode_acro) {

4
Rover/mode_circle.cpp
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@ -116,7 +116,7 @@ void ModeCircle::init_target_yaw_rad()
// if no position estimate use vehicle yaw // if no position estimate use vehicle yaw
Vector2f curr_pos_NE; Vector2f curr_pos_NE;
if (!AP::ahrs().get_relative_position_NE_origin(curr_pos_NE)) { if (!AP::ahrs().get_relative_position_NE_origin(curr_pos_NE)) {
target.yaw_rad = AP::ahrs().yaw; target.yaw_rad = AP::ahrs().get_yaw();
return; return;
} }
@ -126,7 +126,7 @@ void ModeCircle::init_target_yaw_rad()
// if current position is exactly at the center of the circle return vehicle yaw // if current position is exactly at the center of the circle return vehicle yaw
if (is_zero(dist_m)) { if (is_zero(dist_m)) {
target.yaw_rad = AP::ahrs().yaw; target.yaw_rad = AP::ahrs().get_yaw();
} else { } else {
target.yaw_rad = center_to_veh.angle(); target.yaw_rad = center_to_veh.angle();
} }

8
Rover/sailboat.cpp
View File

@ -329,7 +329,7 @@ float Sailboat::get_VMG() const
return speed; return speed;
} }
return (speed * cosf(wrap_PI(radians(rover.g2.wp_nav.wp_bearing_cd() * 0.01f) - rover.ahrs.yaw))); return (speed * cosf(wrap_PI(radians(rover.g2.wp_nav.wp_bearing_cd() * 0.01f) - rover.ahrs.get_yaw())));
} }
// handle user initiated tack while in acro mode // handle user initiated tack while in acro mode
@ -340,7 +340,7 @@ void Sailboat::handle_tack_request_acro()
} }
// set tacking heading target to the current angle relative to the true wind but on the new tack // set tacking heading target to the current angle relative to the true wind but on the new tack
currently_tacking = true; currently_tacking = true;
tack_heading_rad = wrap_2PI(rover.ahrs.yaw + 2.0f * wrap_PI((rover.g2.windvane.get_true_wind_direction_rad() - rover.ahrs.yaw))); tack_heading_rad = wrap_2PI(rover.ahrs.get_yaw() + 2.0f * wrap_PI((rover.g2.windvane.get_true_wind_direction_rad() - rover.ahrs.get_yaw())));
tack_request_ms = AP_HAL::millis(); tack_request_ms = AP_HAL::millis();
} }
@ -348,7 +348,7 @@ void Sailboat::handle_tack_request_acro()
// return target heading in radians when tacking (only used in acro) // return target heading in radians when tacking (only used in acro)
float Sailboat::get_tack_heading_rad() float Sailboat::get_tack_heading_rad()
{ {
if (fabsf(wrap_PI(tack_heading_rad - rover.ahrs.yaw)) < radians(SAILBOAT_TACKING_ACCURACY_DEG) || if (fabsf(wrap_PI(tack_heading_rad - rover.ahrs.get_yaw())) < radians(SAILBOAT_TACKING_ACCURACY_DEG) ||
((AP_HAL::millis() - tack_request_ms) > SAILBOAT_AUTO_TACKING_TIMEOUT_MS)) { ((AP_HAL::millis() - tack_request_ms) > SAILBOAT_AUTO_TACKING_TIMEOUT_MS)) {
clear_tack(); clear_tack();
} }
@ -494,7 +494,7 @@ float Sailboat::calc_heading(float desired_heading_cd)
// if we are tacking we maintain the target heading until the tack completes or times out // if we are tacking we maintain the target heading until the tack completes or times out
if (currently_tacking) { if (currently_tacking) {
// check if we have reached target // check if we have reached target
if (fabsf(wrap_PI(tack_heading_rad - rover.ahrs.yaw)) <= radians(SAILBOAT_TACKING_ACCURACY_DEG)) { if (fabsf(wrap_PI(tack_heading_rad - rover.ahrs.get_yaw())) <= radians(SAILBOAT_TACKING_ACCURACY_DEG)) {
clear_tack(); clear_tack();
} else if ((now - auto_tack_start_ms) > SAILBOAT_AUTO_TACKING_TIMEOUT_MS) { } else if ((now - auto_tack_start_ms) > SAILBOAT_AUTO_TACKING_TIMEOUT_MS) {
// tack has taken too long // tack has taken too long