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Copter: rename roi_WP to just roi 

A Vector3f is not a waypoint.

This should really be "Point Of Interest" rather than "Region Of
Interest"
This commit is contained in:
Peter Barker 2017-12-26 15:35:46 +11:00 committed by Randy Mackay
parent ba8b3e2415
commit 948b90ed97
4 changed files with 7 additions and 7 deletions
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4
ArduCopter/Attitude.cpp
View File

@ -33,13 +33,13 @@ float Copter::get_pilot_desired_yaw_rate(int16_t stick_angle)
* yaw controllers
*************************************************************/
// roi_yaw - returns heading towards location held in roi_WP
// roi_yaw - returns heading towards location held in roi
float Copter::Mode::AutoYaw::roi_yaw()
{
roi_yaw_counter++;
if (roi_yaw_counter >= 4) {
roi_yaw_counter = 0;
_roi_yaw = get_bearing_cd(copter.inertial_nav.get_position(), roi_WP);
_roi_yaw = get_bearing_cd(copter.inertial_nav.get_position(), roi);
}
return _roi_yaw;

2
ArduCopter/defines.h
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@ -14,7 +14,7 @@
enum autopilot_yaw_mode {
AUTO_YAW_HOLD = 0, // pilot controls the heading
AUTO_YAW_LOOK_AT_NEXT_WP = 1, // point towards next waypoint (no pilot input accepted)
AUTO_YAW_ROI = 2, // point towards a location held in roi_WP (no pilot input accepted)
AUTO_YAW_ROI = 2, // point towards a location held in roi (no pilot input accepted)
AUTO_YAW_FIXED = 3, // point towards a particular angle (no pilot input accepted)
AUTO_YAW_LOOK_AHEAD = 4, // point in the direction the copter is moving
AUTO_YAW_RESETTOARMEDYAW = 5, // point towards heading at time motors were armed

2
ArduCopter/mode.h
View File

@ -48,7 +48,7 @@ public:
uint8_t _mode = AUTO_YAW_LOOK_AT_NEXT_WP;
// Yaw will point at this location if mode is set to AUTO_YAW_ROI
Vector3f roi_WP;
Vector3f roi;
// bearing from current location to the ROI
float _roi_yaw;

6
ArduCopter/mode_auto.cpp
View File

@ -1989,7 +1989,7 @@ void Copter::Mode::AutoYaw::set_roi(const Location &roi_location)
#if MOUNT == ENABLED
// check if mount type requires us to rotate the quad
if(!copter.camera_mount.has_pan_control()) {
roi_WP = copter.pv_location_to_vector(roi_location);
roi = copter.pv_location_to_vector(roi_location);
auto_yaw.set_mode(AUTO_YAW_ROI);
}
// send the command to the camera mount
@ -2003,7 +2003,7 @@ void Copter::Mode::AutoYaw::set_roi(const Location &roi_location)
// 4: point at a target given a target id (can't be implemented)
#else
// if we have no camera mount aim the quad at the location
roi_WP = pv_location_to_vector(roi_location);
roi = pv_location_to_vector(roi_location);
auto_yaw.set_mode(AUTO_YAW_ROI);
#endif // MOUNT == ENABLED
}
@ -2022,7 +2022,7 @@ float Copter::Mode::AutoYaw::yaw()
switch(_mode) {
case AUTO_YAW_ROI:
// point towards a location held in roi_WP
// point towards a location held in roi
return roi_yaw();
case AUTO_YAW_FIXED: