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AP_Proximity: remove unnecessary const from database_push

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also shorten current_vehicle_bearing argument to just current_heading
This commit is contained in:
Randy Mackay 2019-11-27 10:32:56 +09:00
parent b59908e4d3
commit f6bc33ea2f
4 changed files with 18 additions and 18 deletions
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16
libraries/AP_Proximity/AP_Proximity_Backend.cpp
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@ -335,7 +335,7 @@ bool AP_Proximity_Backend::get_next_ignore_start_or_end(uint8_t start_or_end, in
} }
// returns true if database is ready to be pushed to and all cached data is ready // returns true if database is ready to be pushed to and all cached data is ready
bool AP_Proximity_Backend::database_prepare_for_push(Location &current_loc, float &current_vehicle_bearing) bool AP_Proximity_Backend::database_prepare_for_push(Location &current_loc, float &current_heading)
{ {
AP_OADatabase *oaDb = AP::oadatabase(); AP_OADatabase *oaDb = AP::oadatabase();
if (oaDb == nullptr || !oaDb->healthy()) { if (oaDb == nullptr || !oaDb->healthy()) {
@ -346,22 +346,22 @@ bool AP_Proximity_Backend::database_prepare_for_push(Location &current_loc, floa
return false; return false;
} }
current_vehicle_bearing = AP::ahrs().yaw_sensor * 0.01f; current_heading = AP::ahrs().yaw_sensor * 0.01f;
return true; return true;
} }
// update Object Avoidance database with Earth-frame point // update Object Avoidance database with Earth-frame point
void AP_Proximity_Backend::database_push(const float angle, const float distance) void AP_Proximity_Backend::database_push(float angle, float distance)
{ {
Location current_loc; Location current_loc;
float current_vehicle_bearing; float current_heading;
if (database_prepare_for_push(current_loc, current_vehicle_bearing) == true) { if (database_prepare_for_push(current_loc, current_heading)) {
database_push(angle, distance, AP_HAL::millis(), current_loc, current_vehicle_bearing); database_push(angle, distance, AP_HAL::millis(), current_loc, current_heading);
} }
} }
// update Object Avoidance database with Earth-frame point // update Object Avoidance database with Earth-frame point
void AP_Proximity_Backend::database_push(const float angle, const float distance, const uint32_t timestamp_ms, const Location &current_loc, const float current_vehicle_bearing) void AP_Proximity_Backend::database_push(float angle, float distance, uint32_t timestamp_ms, const Location &current_loc, float current_heading)
{ {
AP_OADatabase *oaDb = AP::oadatabase(); AP_OADatabase *oaDb = AP::oadatabase();
if (oaDb == nullptr || !oaDb->healthy()) { if (oaDb == nullptr || !oaDb->healthy()) {
@ -369,6 +369,6 @@ void AP_Proximity_Backend::database_push(const float angle, const float distance
} }
Location temp_loc = current_loc; Location temp_loc = current_loc;
temp_loc.offset_bearing(wrap_180(current_vehicle_bearing + angle), distance); temp_loc.offset_bearing(wrap_180(current_heading + angle), distance);
oaDb->queue_push(temp_loc, timestamp_ms, distance, angle); oaDb->queue_push(temp_loc, timestamp_ms, distance, angle);
} }

8
libraries/AP_Proximity/AP_Proximity_Backend.h
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@ -87,10 +87,10 @@ protected:
bool get_ignore_area(uint8_t index, uint16_t &angle_deg, uint8_t &width_deg) const; bool get_ignore_area(uint8_t index, uint16_t &angle_deg, uint8_t &width_deg) const;
bool get_next_ignore_start_or_end(uint8_t start_or_end, int16_t start_angle, int16_t &ignore_start) const; bool get_next_ignore_start_or_end(uint8_t start_or_end, int16_t start_angle, int16_t &ignore_start) const;
// database helpers // database helpers. all angles are in degrees
bool database_prepare_for_push(Location &current_loc, float &current_vehicle_bearing); bool database_prepare_for_push(Location &current_loc, float &current_heading);
void database_push(const float angle, const float distance); void database_push(float angle, float distance);
void database_push(const float angle, const float distance, const uint32_t timestamp_ms, const Location &current_loc, const float current_vehicle_bearing); void database_push(float angle, float distance, uint32_t timestamp_ms, const Location &current_loc, float current_heading);
AP_Proximity &frontend; AP_Proximity &frontend;
AP_Proximity::Proximity_State &state; // reference to this instances state AP_Proximity::Proximity_State &state; // reference to this instances state

6
libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
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@ -391,8 +391,8 @@ void AP_Proximity_LightWareSF40C::process_message()
// prepare to push to object database // prepare to push to object database
Location current_loc; Location current_loc;
float current_vehicle_bearing; float current_heading;
const bool database_ready = database_prepare_for_push(current_loc, current_vehicle_bearing); const bool database_ready = database_prepare_for_push(current_loc, current_heading);
// process each point // process each point
const float angle_inc_deg = (1.0f / point_total) * 360.0f; const float angle_inc_deg = (1.0f / point_total) * 360.0f;
@ -426,7 +426,7 @@ void AP_Proximity_LightWareSF40C::process_message()
} }
// send point to object avoidance database // send point to object avoidance database
if (database_ready) { if (database_ready) {
database_push(angle_deg, dist_m, _last_distance_received_ms, current_loc, current_vehicle_bearing); database_push(angle_deg, dist_m, _last_distance_received_ms, current_loc, current_heading);
} }
} }
} }

6
libraries/AP_Proximity/AP_Proximity_MAV.cpp
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@ -105,8 +105,8 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
} }
Location current_loc; Location current_loc;
float current_vehicle_bearing; float current_heading;
const bool database_ready = database_prepare_for_push(current_loc, current_vehicle_bearing); const bool database_ready = database_prepare_for_push(current_loc, current_heading);
// initialise updated array and proximity sector angles (to closest object) and distances // initialise updated array and proximity sector angles (to closest object) and distances
bool sector_updated[_num_sectors]; bool sector_updated[_num_sectors];
@ -146,7 +146,7 @@ void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
// update Object Avoidance database with Earth-frame point // update Object Avoidance database with Earth-frame point
if (database_ready) { if (database_ready) {
database_push(mid_angle, packet_distance_m, _last_update_ms, current_loc, current_vehicle_bearing); database_push(mid_angle, packet_distance_m, _last_update_ms, current_loc, current_heading);
} }
} }