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https://github.com/ArduPilot/ardupilot
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AC_PrecLand: update comments to reflect change from bf_angle to angle
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@ -135,7 +135,7 @@ void AC_PrecLand::calc_angles_and_pos(float alt_above_terrain_cm)
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return;
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}
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// get body-frame angles to target from backend
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// get angles to target from backend
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if (!_backend->get_angle_to_target(_angle_to_target.x, _angle_to_target.y)) {
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_have_estimate = false;
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return;
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@ -72,7 +72,7 @@ public:
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private:
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// calc_angles_and_pos - converts sensor's body-frame angles to earth-frame angles and position estimate
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// body-frame angles stored in _bf_angle_to_target
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// angles stored in _angle_to_target
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// earth-frame angles stored in _ef_angle_to_target
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// position estimate is stored in _target_pos
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void calc_angles_and_pos(float alt_above_terrain_cm);
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@ -29,10 +29,10 @@ public:
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// what frame of reference is our sensor reporting in?
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virtual MAV_FRAME get_frame_of_reference();
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// get_angle_to_target - returns body frame angles (in radians) to target
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// get_angle_to_target - returns angles (in radians) to target
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// returns true if angles are available, false if not (i.e. no target)
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// x_angle_rad : body-frame roll direction, positive = target is to right (looking down)
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// y_angle_rad : body-frame pitch direction, postiive = target is forward (looking down)
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// x_angle_rad : roll direction, positive = target is to right (looking down)
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// y_angle_rad : pitch direction, postiive = target is forward (looking down)
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virtual bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad) = 0;
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// handle_msg - parses a mavlink message from the companion computer
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@ -32,10 +32,10 @@ MAV_FRAME AC_PrecLand_Companion::get_frame_of_reference()
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return _frame;
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}
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// get_angle_to_target - returns body frame angles (in radians) to target
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// get_angle_to_target - returns angles (in radians) to target
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// returns true if angles are available, false if not (i.e. no target)
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// x_angle_rad : body-frame roll direction, positive = target is to right (looking down)
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// y_angle_rad : body-frame pitch direction, postiive = target is forward (looking down)
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// x_angle_rad : roll direction, positive = target is to right (looking down)
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// y_angle_rad : pitch direction, postiive = target is forward (looking down)
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bool AC_PrecLand_Companion::get_angle_to_target(float &x_angle_rad, float &y_angle_rad)
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{
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if (_new_estimate){
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@ -27,10 +27,10 @@ public:
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// what frame of reference is our sensor reporting in?
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MAV_FRAME get_frame_of_reference();
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// get_angle_to_target - returns body frame angles (in radians) to target
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// get_angle_to_target - returns angles (in radians) to target
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// returns true if angles are available, false if not (i.e. no target)
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// x_angle_rad : body-frame roll direction, positive = target is to right (looking down)
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// y_angle_rad : body-frame pitch direction, postiive = target is forward (looking down)
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// x_angle_rad : roll direction, positive = target is to right (looking down)
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// y_angle_rad : pitch direction, postiive = target is forward (looking down)
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bool get_angle_to_target(float &x_angle_rad, float &y_angle_rad);
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// handle_msg - parses a mavlink message from the companion computer
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@ -40,7 +40,7 @@ private:
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// output from camera
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MAV_FRAME _frame; // what frame of reference is our sensor reporting in?
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Vector2f _angle_to_target; // last body-frame angle to target
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Vector2f _angle_to_target; // last angle to target
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float _distance_to_target; // distance from the camera to target in meters
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uint64_t _timestamp_us; // timestamp when the image was captured(synced via UAVCAN)
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bool _new_estimate; // true if new data from the camera has been received
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