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AC_PrecLand: rename bf_angle to angle

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squilter 2015-10-23 11:15:40 -04:00 committed by Randy Mackay
parent c228ea4371
commit e409bd0a58
4 changed files with 9 additions and 9 deletions
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4
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -124,7 +124,7 @@ Vector3f AC_PrecLand::get_target_shift(const Vector3f &orig_target)
}
// calc_angles_and_pos - converts sensor's body-frame angles to earth-frame angles and position estimate
// body-frame angles stored in _bf_angle_to_target
// raw sensor angles stored in _angle_to_target (might be in earth frame, or maybe body frame)
// earth-frame angles stored in _ef_angle_to_target
// position estimate is stored in _target_pos
void AC_PrecLand::calc_angles_and_pos(float alt_above_terrain_cm)
@ -136,7 +136,7 @@ void AC_PrecLand::calc_angles_and_pos(float alt_above_terrain_cm)
}
// get body-frame angles to target from backend
if (!_backend->get_angle_to_target(_bf_angle_to_target.x, _bf_angle_to_target.y)) {
if (!_backend->get_angle_to_target(_angle_to_target.x, _angle_to_target.y)) {
_have_estimate = false;
return;
}

4
libraries/AC_PrecLand/AC_PrecLand.h
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@ -62,7 +62,7 @@ public:
// accessors for logging
bool enabled() const { return _enabled; }
const Vector2f& last_bf_angle_to_target() const { return _bf_angle_to_target; }
const Vector2f& last_bf_angle_to_target() const { return _angle_to_target; }
const Vector2f& last_ef_angle_to_target() const { return _ef_angle_to_target; }
const Vector3f& last_target_pos_offset() const { return _target_pos_offset; }
@ -94,7 +94,7 @@ private:
float _dt; // time difference (in seconds) between calls from the main program
// output from sensor (stored for logging)
Vector2f _bf_angle_to_target;// last body-frame angle to target
Vector2f _angle_to_target; // last raw sensor angle to target
Vector2f _ef_angle_to_target;// last earth-frame angle to target
// output from controller

8
libraries/AC_PrecLand/AC_PrecLand_Companion.cpp
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@ -33,8 +33,8 @@ bool AC_PrecLand_Companion::update()
bool AC_PrecLand_Companion::get_angle_to_target(float &x_angle_rad, float &y_angle_rad)
{
if (_new_estimate){
x_angle_rad = _bf_angle_to_target.x;
y_angle_rad = _bf_angle_to_target.y;
x_angle_rad = _angle_to_target.x;
y_angle_rad = _angle_to_target.y;
// reset and wait for new data
_new_estimate = false;
@ -51,8 +51,8 @@ void AC_PrecLand_Companion::handle_msg(mavlink_message_t* msg)
mavlink_msg_landing_target_decode(msg, &packet);
_timestamp_us = packet.time_usec;
_bf_angle_to_target.x = packet.angle_x;
_bf_angle_to_target.y = packet.angle_y;
_angle_to_target.x = packet.angle_x;
_angle_to_target.y = packet.angle_y;
_distance_to_target = packet.distance;
_state.healthy = true;
_new_estimate = true;

2
libraries/AC_PrecLand/AC_PrecLand_Companion.h
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@ -37,7 +37,7 @@ public:
private:
// output from camera
Vector2f _bf_angle_to_target; // last body-frame angle to target
Vector2f _angle_to_target; // last body-frame angle to target
float _distance_to_target; // distance from the camera to target in meters
uint64_t _timestamp_us; // timestamp when the image was captured(synced via UAVCAN)
bool _new_estimate; // true if new data from the camera has been received