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AP_L1_Control: make AHRS attitude member variables private

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Peter Barker 2024-01-12 23:40:22 +11:00 committed by Peter Barker
parent a81b229997
commit 91fbe46466
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_L1_Control/AP_L1_Control.cpp
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@ -56,9 +56,9 @@ const AP_Param::GroupInfo AP_L1_Control::var_info[] = {
float AP_L1_Control::get_yaw() const float AP_L1_Control::get_yaw() const
{ {
if (_reverse) { if (_reverse) {
return wrap_PI(M_PI + _ahrs.yaw); return wrap_PI(M_PI + _ahrs.get_yaw());
} }
return _ahrs.yaw; return _ahrs.get_yaw();
} }
/* /*
@ -88,7 +88,7 @@ int32_t AP_L1_Control::nav_roll_cd(void) const
Made changes to avoid zero division as proposed by Andrew Tridgell: https://github.com/ArduPilot/ardupilot/pull/24331#discussion_r1267798397 Made changes to avoid zero division as proposed by Andrew Tridgell: https://github.com/ArduPilot/ardupilot/pull/24331#discussion_r1267798397
*/ */
float pitchLimL1 = radians(60); // Suggestion: constraint may be modified to pitch limits if their absolute values are less than 90 degree and more than 60 degrees. float pitchLimL1 = radians(60); // Suggestion: constraint may be modified to pitch limits if their absolute values are less than 90 degree and more than 60 degrees.
float pitchL1 = constrain_float(_ahrs.pitch,-pitchLimL1,pitchLimL1); float pitchL1 = constrain_float(_ahrs.get_pitch(),-pitchLimL1,pitchLimL1);
ret = degrees(atanf(_latAccDem * (1.0f/(GRAVITY_MSS * cosf(pitchL1))))) * 100.0f; ret = degrees(atanf(_latAccDem * (1.0f/(GRAVITY_MSS * cosf(pitchL1))))) * 100.0f;
ret = constrain_float(ret, -9000, 9000); ret = constrain_float(ret, -9000, 9000);
return ret; return ret;
@ -396,7 +396,7 @@ void AP_L1_Control::update_loiter(const Location &center_WP, float radius, int8_
A_air_unit = A_air.normalized(); A_air_unit = A_air.normalized();
} else { } else {
if (_groundspeed_vector.length() < 0.1f) { if (_groundspeed_vector.length() < 0.1f) {
A_air_unit = Vector2f(cosf(_ahrs.yaw), sinf(_ahrs.yaw)); A_air_unit = Vector2f(cosf(_ahrs.get_yaw()), sinf(_ahrs.get_yaw()));
} else { } else {
A_air_unit = _groundspeed_vector.normalized(); A_air_unit = _groundspeed_vector.normalized();
} }
@ -504,7 +504,7 @@ void AP_L1_Control::update_level_flight(void)
{ {
// copy to _target_bearing_cd and _nav_bearing // copy to _target_bearing_cd and _nav_bearing
_target_bearing_cd = _ahrs.yaw_sensor; _target_bearing_cd = _ahrs.yaw_sensor;
_nav_bearing = _ahrs.yaw; _nav_bearing = _ahrs.get_yaw();
_bearing_error = 0; _bearing_error = 0;
_crosstrack_error = 0; _crosstrack_error = 0;