mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-08 17:08:28 -04:00
AC_Avoidance: convert APM_BUILD_COPTER_OR_HELI() to APM_BUILD_COPTER_OR_HELI
This commit is contained in:
parent
f5805058c2
commit
f9b6934d7d
libraries/AC_Avoidance
@ -27,7 +27,7 @@
|
|||||||
# define AP_AVOID_BEHAVE_DEFAULT AC_Avoid::BehaviourType::BEHAVIOR_SLIDE
|
# define AP_AVOID_BEHAVE_DEFAULT AC_Avoid::BehaviourType::BEHAVIOR_SLIDE
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#if APM_BUILD_COPTER_OR_HELI()
|
#if APM_BUILD_COPTER_OR_HELI
|
||||||
# define AP_AVOID_ENABLE_Z 1
|
# define AP_AVOID_ENABLE_Z 1
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
@ -32,7 +32,7 @@ const float OA_BENDYRULER_LOOKAHEAD_STEP2_MIN = 2.0f; // step2 checks at least
|
|||||||
const float OA_BENDYRULER_LOOKAHEAD_PAST_DEST = 2.0f; // lookahead length will be at least this many meters past the destination
|
const float OA_BENDYRULER_LOOKAHEAD_PAST_DEST = 2.0f; // lookahead length will be at least this many meters past the destination
|
||||||
const float OA_BENDYRULER_LOW_SPEED_SQUARED = (0.2f * 0.2f); // when ground course is below this speed squared, vehicle's heading will be used
|
const float OA_BENDYRULER_LOW_SPEED_SQUARED = (0.2f * 0.2f); // when ground course is below this speed squared, vehicle's heading will be used
|
||||||
|
|
||||||
#define VERTICAL_ENABLED APM_BUILD_COPTER_OR_HELI()
|
#define VERTICAL_ENABLED APM_BUILD_COPTER_OR_HELI
|
||||||
|
|
||||||
const AP_Param::GroupInfo AP_OABendyRuler::var_info[] = {
|
const AP_Param::GroupInfo AP_OABendyRuler::var_info[] = {
|
||||||
|
|
||||||
|
@ -149,7 +149,7 @@ void AP_OADatabase::queue_push(const Vector3f &pos, uint32_t timestamp_ms, float
|
|||||||
}
|
}
|
||||||
|
|
||||||
// check if this obstacle needs to be rejected from DB because of low altitude near home
|
// check if this obstacle needs to be rejected from DB because of low altitude near home
|
||||||
#if APM_BUILD_COPTER_OR_HELI()
|
#if APM_BUILD_COPTER_OR_HELI
|
||||||
if (!is_zero(_min_alt)) {
|
if (!is_zero(_min_alt)) {
|
||||||
Vector2f current_pos;
|
Vector2f current_pos;
|
||||||
if (!AP::ahrs().get_relative_position_NE_home(current_pos)) {
|
if (!AP::ahrs().get_relative_position_NE_home(current_pos)) {
|
||||||
|
Loading…
Reference in New Issue
Block a user