Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ArduSub: make Location(Vector3f) require ALTFRAME

This commit is contained in:
Josh Henderson 2021-03-17 17:17:48 -04:00 committed by Randy Mackay
parent f65c4df358
commit f7b39b19f0
3 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduSub/commands_logic.cpp
View File

@ -312,7 +312,7 @@ void Sub::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
// To-Do: make this simpler // To-Do: make this simpler
Vector3f temp_pos; Vector3f temp_pos;
wp_nav.get_wp_stopping_point_xy(temp_pos); wp_nav.get_wp_stopping_point_xy(temp_pos);
const Location temp_loc(temp_pos); const Location temp_loc(temp_pos, Location::AltFrame::ABOVE_ORIGIN);
target_loc.lat = temp_loc.lat; target_loc.lat = temp_loc.lat;
target_loc.lng = temp_loc.lng; target_loc.lng = temp_loc.lng;
} }

2
ArduSub/control_auto.cpp
View File

@ -273,7 +273,7 @@ void Sub::auto_circle_movetoedge_start(const Location &circle_center, float radi
auto_mode = Auto_CircleMoveToEdge; auto_mode = Auto_CircleMoveToEdge;
// convert circle_edge_neu to Location // convert circle_edge_neu to Location
Location circle_edge(circle_edge_neu); Location circle_edge(circle_edge_neu, Location::AltFrame::ABOVE_ORIGIN);
// convert altitude to same as command // convert altitude to same as command
circle_edge.set_alt_cm(circle_center.alt, circle_center.get_alt_frame()); circle_edge.set_alt_cm(circle_center.alt, circle_center.get_alt_frame());

4
ArduSub/control_guided.cpp
View File

@ -145,7 +145,7 @@ bool Sub::guided_set_destination(const Vector3f& destination)
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
// reject destination if outside the fence // reject destination if outside the fence
const Location dest_loc(destination); const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
if (!fence.check_destination_within_fence(dest_loc)) { if (!fence.check_destination_within_fence(dest_loc)) {
AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK // failure is propagated to GCS with NAK
@ -217,7 +217,7 @@ bool Sub::guided_set_destination_posvel(const Vector3f& destination, const Vecto
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
// reject destination if outside the fence // reject destination if outside the fence
const Location dest_loc(destination); const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
if (!fence.check_destination_within_fence(dest_loc)) { if (!fence.check_destination_within_fence(dest_loc)) {
AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE); AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK // failure is propagated to GCS with NAK