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AP_Follow: NFC small renames and comment improvements

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Dr.-Ing. Amilcar Do Carmo Lucas 2018-02-15 20:16:43 +01:00 committed by Randy Mackay
parent f1e43979ab
commit 8f5a22685a
2 changed files with 5 additions and 5 deletions
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6
libraries/AP_Follow/AP_Follow.cpp
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@ -219,7 +219,7 @@ bool AP_Follow::get_target_dist_and_vel_ned(Vector3f &dist_ned, Vector3f &dist_w
} }
// get target's heading in degrees (0 = north, 90 = east) // get target's heading in degrees (0 = north, 90 = east)
bool AP_Follow::get_target_heading(float &heading) const bool AP_Follow::get_target_heading_deg(float &heading) const
{ {
// exit immediately if not enabled // exit immediately if not enabled
if (!_enabled) { if (!_enabled) {
@ -343,7 +343,7 @@ void AP_Follow::init_offsets_if_required(const Vector3f &dist_vec_ned)
} }
float target_heading_deg; float target_heading_deg;
if ((_offset_type == AP_FOLLOW_OFFSET_TYPE_RELATIVE) && get_target_heading(target_heading_deg)) { if ((_offset_type == AP_FOLLOW_OFFSET_TYPE_RELATIVE) && get_target_heading_deg(target_heading_deg)) {
// rotate offsets from north facing to vehicle's perspective // rotate offsets from north facing to vehicle's perspective
_offset = rotate_vector(-dist_vec_ned, -target_heading_deg); _offset = rotate_vector(-dist_vec_ned, -target_heading_deg);
} else { } else {
@ -367,7 +367,7 @@ bool AP_Follow::get_offsets_ned(Vector3f &offset) const
// offset type is relative, exit if we cannot get vehicle's heading // offset type is relative, exit if we cannot get vehicle's heading
float target_heading_deg; float target_heading_deg;
if (!get_target_heading(target_heading_deg)) { if (!get_target_heading_deg(target_heading_deg)) {
return false; return false;
} }

4
libraries/AP_Follow/AP_Follow.h
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@ -68,7 +68,7 @@ public:
YawBehave get_yaw_behave() const { return (YawBehave)_yaw_behave.get(); } YawBehave get_yaw_behave() const { return (YawBehave)_yaw_behave.get(); }
// get target's heading in degrees (0 = north, 90 = east) // get target's heading in degrees (0 = north, 90 = east)
bool get_target_heading(float &heading) const; bool get_target_heading_deg(float &heading) const;
// parse mavlink messages which may hold target's position, velocity and attitude // parse mavlink messages which may hold target's position, velocity and attitude
void handle_msg(const mavlink_message_t &msg); void handle_msg(const mavlink_message_t &msg);
@ -109,7 +109,7 @@ private:
AP_Float _dist_max; // maximum distance to target. targets further than this will be ignored AP_Float _dist_max; // maximum distance to target. targets further than this will be ignored
AP_Int8 _offset_type; // offset frame type (0:North-East-Down, 1:RelativeToLeadVehicleHeading) AP_Int8 _offset_type; // offset frame type (0:North-East-Down, 1:RelativeToLeadVehicleHeading)
AP_Vector3f _offset; // offset from lead vehicle in meters AP_Vector3f _offset; // offset from lead vehicle in meters
AP_Int8 _yaw_behave; // following vehicle's yaw/heading behaviour AP_Int8 _yaw_behave; // following vehicle's yaw/heading behaviour (see YAW_BEHAVE enum)
AP_Int8 _alt_type; // altitude source for follow mode AP_Int8 _alt_type; // altitude source for follow mode
AC_P _p_pos; // position error P controller AC_P _p_pos; // position error P controller