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Rover: formatting and comment fixes to mode class

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khancyr 2017-08-03 11:41:47 +02:00 committed by Randy Mackay
parent 4368df7f11
commit 848df551ac
3 changed files with 3 additions and 3 deletions
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2
APMrover2/mode.cpp
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@ -34,7 +34,7 @@ void Mode::set_desired_location(const struct Location& destination)
_desired_speed = g.speed_cruise; _desired_speed = g.speed_cruise;
// initialise distance // initialise distance
_distance_to_destination = get_distance(rover.current_loc, _destination); _distance_to_destination = get_distance(_origin, _destination);
_reached_destination = false; _reached_destination = false;
} }

2
APMrover2/mode.h
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@ -106,7 +106,7 @@ protected:
class AP_AHRS &ahrs; class AP_AHRS &ahrs;
class Parameters &g; class Parameters &g;
class ParametersG2 &g2; class ParametersG2 &g2;
class RC_Channel *&channel_steer; // TODO : Pointer reference ? class RC_Channel *&channel_steer;
class RC_Channel *&channel_throttle; class RC_Channel *&channel_throttle;
class AP_Mission &mission; class AP_Mission &mission;

2
APMrover2/mode_guided.cpp
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@ -133,7 +133,7 @@ void ModeGuided::set_desired_heading_delta_and_speed(float yaw_delta_cd, float t
_guided_mode = ModeGuided::Guided_HeadingAndSpeed; _guided_mode = ModeGuided::Guided_HeadingAndSpeed;
_desired_yaw_cd = ahrs.yaw_sensor; _desired_yaw_cd = ahrs.yaw_sensor;
} }
set_desired_heading_and_speed(wrap_180_cd(_desired_yaw_cd+yaw_delta_cd), target_speed); set_desired_heading_and_speed(wrap_180_cd(_desired_yaw_cd + yaw_delta_cd), target_speed);
} }
// set desired velocity // set desired velocity