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AP_Rally: Minor fixes to AP_Rally after initial testing 

- If a Rally point is being used, always respect the altitude set by the
user (don't take the max of that and the home point altitude).

- No need for constructor to pass in size of RallyLocation struct
This commit is contained in:
Michael Day 2014-04-18 12:22:16 -07:00 committed by Andrew Tridgell
parent 5825bac410
commit a2aab2ab5e
2 changed files with 2 additions and 10 deletions
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10
libraries/AP_Rally/AP_Rally.cpp
View File

@ -39,19 +39,12 @@ const AP_Param::GroupInfo AP_Rally::var_info[] PROGMEM = {
}; };
// constructor // constructor
AP_Rally::AP_Rally(AP_AHRS &ahrs, uint16_t max_rally_points, uint16_t rally_wp_size, uint16_t rally_start_byte) AP_Rally::AP_Rally(AP_AHRS &ahrs, uint16_t max_rally_points, uint16_t rally_start_byte)
: _ahrs(ahrs) : _ahrs(ahrs)
, _max_rally_points(max_rally_points) , _max_rally_points(max_rally_points)
, _rally_start_byte(rally_start_byte) , _rally_start_byte(rally_start_byte)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
// we only pass rally_point_size through to verify that the value used in defines.h to layout the EEPROM stays correct over time
// would be nice if we could reliably check at compile time, but I can't find a solution that works in the Arduino IDE too
// if there is a difference in passed size versus sizeof(RallyLocation) we disable rally points by setting the max count to zero
if (rally_wp_size != sizeof(RallyLocation)) {
_max_rally_points = 0;
}
} }
// get a rally point from EEPROM // get a rally point from EEPROM
@ -142,7 +135,6 @@ Location AP_Rally::calc_best_rally_or_home_location(const Location &current_loc,
if (find_nearest_rally_point(current_loc, ral_loc)) { if (find_nearest_rally_point(current_loc, ral_loc)) {
// valid rally point found // valid rally point found
return_loc = rally_location_to_location(ral_loc, home_loc); return_loc = rally_location_to_location(ral_loc, home_loc);
return_loc.alt = max(return_loc.alt, rtl_home_alt);
} else { } else {
// no valid rally point, return home position // no valid rally point, return home position
return_loc = home_loc; return_loc = home_loc;

2
libraries/AP_Rally/AP_Rally.h
View File

@ -26,7 +26,7 @@
class AP_Rally { class AP_Rally {
public: public:
AP_Rally(AP_AHRS &ahrs, uint16_t max_rally_points, uint16_t rally_point_size, uint16_t rally_start_byte); AP_Rally(AP_AHRS &ahrs, uint16_t max_rally_points, uint16_t rally_start_byte);
// data handling // data handling
bool get_rally_point_with_index(uint8_t i, RallyLocation &ret) const; bool get_rally_point_with_index(uint8_t i, RallyLocation &ret) const;