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ArduPlane: make AHRS attitude member variables private

This commit is contained in:
Peter Barker 2024-01-12 23:40:24 +11:00 committed by Peter Barker
parent caf1e33f17
commit b3897c020e
7 changed files with 11 additions and 11 deletions
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4
ArduPlane/ArduPlane.cpp
View File

@ -916,8 +916,8 @@ void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
return;
}
#endif
pitch = ahrs.pitch;
roll = ahrs.roll;
pitch = ahrs.get_pitch();
roll = ahrs.get_roll();
if (!(flight_option_enabled(FlightOptions::OSD_REMOVE_TRIM_PITCH_CD))) { // correct for TRIM_PITCH_CD
pitch -= g.pitch_trim_cd * 0.01 * DEG_TO_RAD;
}

6
ArduPlane/GCS_Mavlink.cpp
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@ -129,9 +129,9 @@ void GCS_MAVLINK_Plane::send_attitude() const
{
const AP_AHRS &ahrs = AP::ahrs();
float r = ahrs.roll;
float p = ahrs.pitch;
float y = ahrs.yaw;
float r = ahrs.get_roll();
float p = ahrs.get_pitch();
float y = ahrs.get_yaw();
if (!(plane.flight_option_enabled(FlightOptions::GCS_REMOVE_TRIM_PITCH_CD))) {
p -= radians(plane.g.pitch_trim_cd * 0.01f);

2
ArduPlane/commands_logic.cpp
View File

@ -1090,7 +1090,7 @@ bool Plane::verify_landing_vtol_approach(const AP_Mission::Mission_Command &cmd)
const float breakout_direction_rad = radians(vtol_approach_s.approach_direction_deg + (direction > 0 ? 270 : 90));
// breakout when within 5 degrees of the opposite direction
if (fabsF(wrap_PI(ahrs.yaw - breakout_direction_rad)) < radians(5.0f)) {
if (fabsF(wrap_PI(ahrs.get_yaw() - breakout_direction_rad)) < radians(5.0f)) {
gcs().send_text(MAV_SEVERITY_INFO, "Starting VTOL land approach path");
vtol_approach_s.approach_stage = APPROACH_LINE;
set_next_WP(cmd.content.location);

2
ArduPlane/mode_cruise.cpp
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@ -61,7 +61,7 @@ void ModeCruise::navigate()
// check if we are moving in the direction of the front of the vehicle
const int32_t ground_course_cd = plane.gps.ground_course_cd();
const bool moving_forwards = fabsf(wrap_PI(radians(ground_course_cd * 0.01) - plane.ahrs.yaw)) < M_PI_2;
const bool moving_forwards = fabsf(wrap_PI(radians(ground_course_cd * 0.01) - plane.ahrs.get_yaw())) < M_PI_2;
if (!locked_heading &&
plane.channel_roll->get_control_in() == 0 &&

2
ArduPlane/mode_guided.cpp
View File

@ -52,7 +52,7 @@ void ModeGuided::update()
float error = 0.0f;
if (plane.guided_state.target_heading_type == GUIDED_HEADING_HEADING) {
error = wrap_PI(plane.guided_state.target_heading - AP::ahrs().yaw);
error = wrap_PI(plane.guided_state.target_heading - AP::ahrs().get_yaw());
} else {
Vector2f groundspeed = AP::ahrs().groundspeed_vector();
error = wrap_PI(plane.guided_state.target_heading - atan2f(-groundspeed.y, -groundspeed.x) + M_PI);

2
ArduPlane/mode_takeoff.cpp
View File

@ -81,7 +81,7 @@ void ModeTakeoff::update()
const float dist = target_dist;
if (!takeoff_started) {
const uint16_t altitude = plane.relative_ground_altitude(false,true);
const float direction = degrees(ahrs.yaw);
const float direction = degrees(ahrs.get_yaw());
// see if we will skip takeoff as already flying
if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && ahrs.groundspeed() > 3) {
if (altitude >= alt) {

4
ArduPlane/quadplane.cpp
View File

@ -2636,7 +2636,7 @@ void QuadPlane::vtol_position_controller(void)
target_speed_xy_cms = diff_wp_norm * target_speed * 100;
target_accel_cms = diff_wp_norm * (-target_accel*100);
target_yaw_deg = degrees(diff_wp_norm.angle());
const float yaw_err_deg = wrap_180(target_yaw_deg - degrees(plane.ahrs.yaw));
const float yaw_err_deg = wrap_180(target_yaw_deg - degrees(plane.ahrs.get_yaw()));
bool overshoot = (closing_groundspeed < 0 || fabsf(yaw_err_deg) > 60);
if (overshoot && !poscontrol.overshoot) {
gcs().send_text(MAV_SEVERITY_INFO,"VTOL Overshoot d=%.1f cs=%.1f yerr=%.1f",
@ -3046,7 +3046,7 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
*/
float QuadPlane::get_scaled_wp_speed(float target_bearing_deg) const
{
const float yaw_difference = fabsf(wrap_180(degrees(plane.ahrs.yaw) - target_bearing_deg));
const float yaw_difference = fabsf(wrap_180(degrees(plane.ahrs.get_yaw()) - target_bearing_deg));
const float wp_speed = wp_nav->get_default_speed_xy() * 0.01;
if (yaw_difference > 20) {
// this gives a factor of 2x reduction in max speed when