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AP_Soaring: make AHRS attitude member variables private

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Peter Barker 2024-01-12 23:40:23 +11:00 committed by Peter Barker
parent 57b1ab3ad9
commit ba68d0fcbe
2 changed files with 3 additions and 3 deletions
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4
libraries/AP_Soaring/AP_Soaring.cpp
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@ -280,8 +280,8 @@ void SoaringController::init_thermalling()
// New state vector filter will be reset. Thermal location is placed in front of a/c // New state vector filter will be reset. Thermal location is placed in front of a/c
const float init_xr[4] = {_vario.get_trigger_value(), const float init_xr[4] = {_vario.get_trigger_value(),
INITIAL_THERMAL_RADIUS, INITIAL_THERMAL_RADIUS,
position.x + thermal_distance_ahead * cosf(_ahrs.yaw), position.x + thermal_distance_ahead * cosf(_ahrs.get_yaw()),
position.y + thermal_distance_ahead * sinf(_ahrs.yaw)}; position.y + thermal_distance_ahead * sinf(_ahrs.get_yaw())};
const VectorN<float,4> xr{init_xr}; const VectorN<float,4> xr{init_xr};

2
libraries/AP_Soaring/Variometer.cpp
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@ -62,7 +62,7 @@ void Variometer::update(const float thermal_bank)
float smoothed_climb_rate = _climb_filter.apply(raw_climb_rate, dt); float smoothed_climb_rate = _climb_filter.apply(raw_climb_rate, dt);
// Compute still-air sinkrate // Compute still-air sinkrate
float roll = _ahrs.roll; float roll = _ahrs.get_roll();
float sinkrate = calculate_aircraft_sinkrate(roll); float sinkrate = calculate_aircraft_sinkrate(roll);
reading = raw_climb_rate + dsp_cor*_aspd_filt_constrained/GRAVITY_MSS + sinkrate; reading = raw_climb_rate + dsp_cor*_aspd_filt_constrained/GRAVITY_MSS + sinkrate;