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AC_AttitudeControl: nfc PosControl fix to say relative to EKF origin

This commit is contained in:
Joshua Henderson 2022-02-02 00:27:51 -05:00 committed by Randy Mackay
parent 8e04fb4e8e
commit 8af7752110
1 changed files with 10 additions and 10 deletions
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20
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -243,16 +243,16 @@ public:
/// Position
/// set_pos_target_xy_cm - sets the position target in NEU cm from home
/// set_pos_target_xy_cm - sets the position target, frame NEU in cm relative to the EKF origin
void set_pos_target_xy_cm(float pos_x, float pos_y) { _pos_target.x = pos_x; _pos_target.y = pos_y; }
/// get_pos_target_cm - returns the position target in NEU cm from home
/// get_pos_target_cm - returns the position target, frame NEU in cm relative to the EKF origin
const Vector3p& get_pos_target_cm() const { return _pos_target; }
/// set_pos_target_z_cm - set altitude target in cm above home
/// set_pos_target_z_cm - set altitude target in cm above the EKF origin
void set_pos_target_z_cm(float pos_target) { _pos_target.z = pos_target; }
/// get_pos_target_z_cm - get target altitude (in cm above home)
/// get_pos_target_z_cm - get target altitude (in cm above the EKF origin)
float get_pos_target_z_cm() const { return _pos_target.z; }
/// get_stopping_point_xy_cm - calculates stopping point in NEU cm based on current position, velocity, vehicle acceleration
@ -303,13 +303,13 @@ public:
/// Offset
/// set_pos_offset_target_z_cm - set altitude offset target in cm above home
/// set_pos_offset_target_z_cm - set altitude offset target in cm above the EKF origin
void set_pos_offset_target_z_cm(float pos_offset_target_z) { _pos_offset_target_z = pos_offset_target_z; }
/// set_pos_offset_z_cm - set altitude offset in cm above home
/// set_pos_offset_z_cm - set altitude offset in cm above the EKF origin
void set_pos_offset_z_cm(float pos_offset_z) { _pos_offset_z = pos_offset_z; }
/// get_pos_offset_z_cm - returns altitude offset in cm above home
/// get_pos_offset_z_cm - returns altitude offset in cm above the EKF origin
float get_pos_offset_z_cm() const { return _pos_offset_z; }
/// get_vel_offset_z_cm - returns current vertical offset speed in cm/s
@ -452,15 +452,15 @@ protected:
float _yaw_rate_target; // desired yaw rate in centi-degrees per second calculated by position controller
// position controller internal variables
Vector3p _pos_target; // target location in NEU cm from home
Vector3p _pos_target; // target location, frame NEU in cm relative to the EKF origin
Vector3f _vel_desired; // desired velocity in NEU cm/s
Vector3f _vel_target; // velocity target in NEU cm/s calculated by pos_to_rate step
Vector3f _accel_desired; // desired acceleration in NEU cm/s/s (feed forward)
Vector3f _accel_target; // acceleration target in NEU cm/s/s
Vector3f _limit_vector; // the direction that the position controller is limited, zero when not limited
Vector2f _vehicle_horiz_vel; // velocity to use if _flags.vehicle_horiz_vel_override is set
float _pos_offset_target_z; // vertical position offset target in NEU cm from home
float _pos_offset_z; // vertical position offset in NEU cm from home
float _pos_offset_target_z; // vertical position offset target, frame NEU in cm relative to the EKF origin
float _pos_offset_z; // vertical position offset, frame NEU in cm relative to the EKF origin
float _vel_offset_z; // vertical velocity offset in NEU cm/s calculated by pos_to_rate step
float _accel_offset_z; // vertical acceleration offset in NEU cm/s/s