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AP_Landing: fixed use of double precision maths

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and rename log() to Log() to prevent name collision with libm function
This commit is contained in:
Andrew Tridgell 2018-05-04 11:20:12 +10:00
parent 3b8ec3a2a0
commit 48e27ab242
5 changed files with 16 additions and 16 deletions
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20
libraries/AP_Landing/AP_Landing.cpp
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@ -172,7 +172,7 @@ AP_Landing::AP_Landing(AP_Mission &_mission, AP_AHRS &_ahrs, AP_SpdHgtControl *_
void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude) void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float relative_altitude)
{ {
log(); // log old state so we get a nice transition from old to new here Log(); // log old state so we get a nice transition from old to new here
flags.commanded_go_around = false; flags.commanded_go_around = false;
@ -188,7 +188,7 @@ void AP_Landing::do_land(const AP_Mission::Mission_Command& cmd, const float rel
break; break;
} }
log(); Log();
} }
/* /*
@ -216,7 +216,7 @@ bool AP_Landing::verify_land(const Location &prev_WP_loc, Location &next_WP_loc,
success = true; success = true;
break; break;
} }
log(); Log();
return success; return success;
} }
@ -245,7 +245,7 @@ bool AP_Landing::verify_abort_landing(const Location &prev_WP_loc, Location &nex
// else we're in AUTO with a stopped mission and handle_auto_mode() will set RTL // else we're in AUTO with a stopped mission and handle_auto_mode() will set RTL
} }
log(); Log();
// make sure to always return false so it leaves the mission index alone // make sure to always return false so it leaves the mission index alone
return false; return false;
@ -447,7 +447,7 @@ bool AP_Landing::restart_landing_sequence()
update_flight_stage_fn(); update_flight_stage_fn();
} }
log(); Log();
return success; return success;
} }
@ -547,16 +547,16 @@ bool AP_Landing::request_go_around(void)
break; break;
} }
log(); Log();
return success; return success;
} }
void AP_Landing::handle_flight_stage_change(const bool _in_landing_stage) void AP_Landing::handle_flight_stage_change(const bool _in_landing_stage)
{ {
log(); // log old value to plot discrete transitions Log(); // log old value to plot discrete transitions
flags.in_progress = _in_landing_stage; flags.in_progress = _in_landing_stage;
flags.commanded_go_around = false; flags.commanded_go_around = false;
log(); Log();
} }
/* /*
@ -574,14 +574,14 @@ bool AP_Landing::is_complete(void) const
} }
} }
void AP_Landing::log(void) const void AP_Landing::Log(void) const
{ {
switch (type) { switch (type) {
case TYPE_STANDARD_GLIDE_SLOPE: case TYPE_STANDARD_GLIDE_SLOPE:
type_slope_log(); type_slope_log();
break; break;
case TYPE_DEEPSTALL: case TYPE_DEEPSTALL:
deepstall.log(); deepstall.Log();
break; break;
default: default:
break; break;

2
libraries/AP_Landing/AP_Landing.h
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@ -100,7 +100,7 @@ public:
bool is_complete(void) const; bool is_complete(void) const;
void set_initial_slope(void) { initial_slope = slope; } void set_initial_slope(void) { initial_slope = slope; }
bool is_expecting_impact(void) const; bool is_expecting_impact(void) const;
void log(void) const; void Log(void) const;
const DataFlash_Class::PID_Info * get_pid_info(void) const; const DataFlash_Class::PID_Info * get_pid_info(void) const;
// landing altitude offset (meters) // landing altitude offset (meters)

2
libraries/AP_Landing/AP_Landing_Deepstall.cpp
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@ -428,7 +428,7 @@ const DataFlash_Class::PID_Info& AP_Landing_Deepstall::get_pid_info(void) const
return ds_PID.get_pid_info(); return ds_PID.get_pid_info();
} }
void AP_Landing_Deepstall::log(void) const { void AP_Landing_Deepstall::Log(void) const {
const DataFlash_Class::PID_Info& pid_info = ds_PID.get_pid_info(); const DataFlash_Class::PID_Info& pid_info = ds_PID.get_pid_info();
struct log_DSTL pkt = { struct log_DSTL pkt = {
LOG_PACKET_HEADER_INIT(LOG_DSTL_MSG), LOG_PACKET_HEADER_INIT(LOG_DSTL_MSG),

2
libraries/AP_Landing/AP_Landing_Deepstall.h
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@ -105,7 +105,7 @@ private:
bool is_flying_forward(void) const; bool is_flying_forward(void) const;
bool is_on_approach(void) const; bool is_on_approach(void) const;
bool terminate(void); bool terminate(void);
void log(void) const; void Log(void) const;
bool send_deepstall_message(mavlink_channel_t chan) const; bool send_deepstall_message(mavlink_channel_t chan) const;

6
libraries/AP_Landing/AP_Landing_Slope.cpp
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@ -191,8 +191,8 @@ void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle
// offset and "perfect" slope. // offset and "perfect" slope.
// calculate projected slope with projected alt // calculate projected slope with projected alt
float new_slope_deg = degrees(atan(slope)); float new_slope_deg = degrees(atanf(slope));
float initial_slope_deg = degrees(atan(initial_slope)); float initial_slope_deg = degrees(atanf(initial_slope));
// is projected slope too steep? // is projected slope too steep?
if (new_slope_deg - initial_slope_deg > slope_recalc_steep_threshold_to_abort) { if (new_slope_deg - initial_slope_deg > slope_recalc_steep_threshold_to_abort) {
@ -201,7 +201,7 @@ void AP_Landing::type_slope_adjust_landing_slope_for_rangefinder_bump(AP_Vehicle
alt_offset = rangefinder_state.correction; alt_offset = rangefinder_state.correction;
flags.commanded_go_around = true; flags.commanded_go_around = true;
type_slope_flags.has_aborted_due_to_slope_recalc = true; // only allow this once. type_slope_flags.has_aborted_due_to_slope_recalc = true; // only allow this once.
log(); Log();
} }
} }
} }