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Plane: Remove unused isHeadingLinedUp function, and rename functions to avoid confusion.

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This commit is contained in:
Samuel Tabor 2020-01-28 04:14:43 +00:00 committed by Andrew Tridgell
parent 0df6d74d77
commit 36a90cf443
3 changed files with 10 additions and 10 deletions
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3
ArduPlane/mode.h
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@ -174,8 +174,7 @@ public:
void update() override;
bool isHeadingLinedUp(const Location loiterCenterLoc, const Location targetLoc);
bool isHeadingLinedUp(const float bearing);
bool isHeadingLinedUp(const int32_t bearing_cd);
bool isHeadingLinedUp_cd(const int32_t bearing_cd);
protected:

15
ArduPlane/mode_loiter.cpp
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@ -29,6 +29,9 @@ void ModeLoiter::update()
bool ModeLoiter::isHeadingLinedUp(const Location loiterCenterLoc, const Location targetLoc)
{
// Return true if current heading is aligned to vector to targetLoc.
// Tolerance is initially 10 degrees and grows at 10 degrees for each loiter circle completed.
const uint16_t loiterRadius = abs(plane.aparm.loiter_radius);
if (loiterCenterLoc.get_distance(targetLoc) < loiterRadius + loiterRadius*0.05) {
/* Whenever next waypoint is within the loiter radius plus 5%,
@ -40,17 +43,15 @@ bool ModeLoiter::isHeadingLinedUp(const Location loiterCenterLoc, const Location
// Bearing in centi-degrees
const int32_t bearing_cd = plane.current_loc.get_bearing_to(targetLoc);
return isHeadingLinedUp(bearing_cd);
return isHeadingLinedUp_cd(bearing_cd);
}
bool ModeLoiter::isHeadingLinedUp(const float bearing)
{
const int32_t bearing_cd = bearing*100;
return isHeadingLinedUp(bearing_cd);
}
bool ModeLoiter::isHeadingLinedUp(const int32_t bearing_cd)
bool ModeLoiter::isHeadingLinedUp_cd(const int32_t bearing_cd)
{
// Return true if current heading is aligned to bearing_cd.
// Tolerance is initially 10 degrees and grows at 10 degrees for each loiter circle completed.
// get current heading.
const int32_t heading_cd = plane.gps.ground_course_cd();

2
ArduPlane/soaring.cpp
View File

@ -142,7 +142,7 @@ void Plane::update_soaring() {
}
case Mode::Number::CRUISE: {
const bool headingLinedupToCruise = plane.mode_loiter.isHeadingLinedUp(cruise_state.locked_heading_cd);
const bool headingLinedupToCruise = plane.mode_loiter.isHeadingLinedUp_cd(cruise_state.locked_heading_cd);
if (cruise_state.locked_heading && !headingLinedupToCruise && loiterStatus!=SoaringController::LoiterStatus::ALT_TOO_LOW && timer<20e3) {
break;
}