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AC_PrecLand: small improvements in comments

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Dr.-Ing. Amilcar do Carmo Lucas 2019-02-04 19:10:57 +01:00 committed by Randy Mackay
parent f0ea4af514
commit 4a71ac5e93
3 changed files with 7 additions and 5 deletions
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6
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -93,7 +93,7 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
// @Param: LAG // @Param: LAG
// @DisplayName: Precision Landing sensor lag // @DisplayName: Precision Landing sensor lag
// @Description: Precision Landing sensor lag in ms, to cope with variable landing_target latency // @Description: Precision Landing sensor lag, to cope with variable landing_target latency
// @Range: 0.02 0.250 // @Range: 0.02 0.250
// @Increment: 1 // @Increment: 1
// @Units: s // @Units: s
@ -283,7 +283,7 @@ void AC_PrecLand::run_estimator(float rangefinder_alt_m, bool rangefinder_alt_va
_target_vel_rel_est_NE.y = -inertial_data_delayed->inertialNavVelocity.y; _target_vel_rel_est_NE.y = -inertial_data_delayed->inertialNavVelocity.y;
} }
// Update if a new LOS measurement is available // Update if a new Line-Of-Sight measurement is available
if (construct_pos_meas_using_rangefinder(rangefinder_alt_m, rangefinder_alt_valid)) { if (construct_pos_meas_using_rangefinder(rangefinder_alt_m, rangefinder_alt_valid)) {
_target_pos_rel_est_NE.x = _target_pos_rel_meas_NED.x; _target_pos_rel_est_NE.x = _target_pos_rel_meas_NED.x;
_target_pos_rel_est_NE.y = _target_pos_rel_meas_NED.y; _target_pos_rel_est_NE.y = _target_pos_rel_meas_NED.y;
@ -310,7 +310,7 @@ void AC_PrecLand::run_estimator(float rangefinder_alt_m, bool rangefinder_alt_va
_ekf_y.predict(dt, -vehicleDelVel.y, _accel_noise*dt); _ekf_y.predict(dt, -vehicleDelVel.y, _accel_noise*dt);
} }
// Update if a new LOS measurement is available // Update if a new Line-Of-Sight measurement is available
if (construct_pos_meas_using_rangefinder(rangefinder_alt_m, rangefinder_alt_valid)) { if (construct_pos_meas_using_rangefinder(rangefinder_alt_m, rangefinder_alt_valid)) {
float xy_pos_var = sq(_target_pos_rel_meas_NED.z*(0.01f + 0.01f*AP::ahrs().get_gyro().length()) + 0.02f); float xy_pos_var = sq(_target_pos_rel_meas_NED.z*(0.01f + 0.01f*AP::ahrs().get_gyro().length()) + 0.02f);
if (!target_acquired()) { if (!target_acquired()) {

4
libraries/AC_PrecLand/AC_PrecLand.h
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@ -105,7 +105,7 @@ private:
// run target position estimator // run target position estimator
void run_estimator(float rangefinder_alt_m, bool rangefinder_alt_valid); void run_estimator(float rangefinder_alt_m, bool rangefinder_alt_valid);
// If a new measurement was retreived, sets _target_pos_rel_meas_NED and returns true // If a new measurement was retrieved, sets _target_pos_rel_meas_NED and returns true
bool construct_pos_meas_using_rangefinder(float rangefinder_alt_m, bool rangefinder_alt_valid); bool construct_pos_meas_using_rangefinder(float rangefinder_alt_m, bool rangefinder_alt_valid);
// get vehicle body frame 3D vector from vehicle to target. returns true on success, false on failure // get vehicle body frame 3D vector from vehicle to target. returns true on success, false on failure
@ -124,7 +124,7 @@ private:
AP_Float _yaw_align; // Yaw angle from body x-axis to sensor x-axis. AP_Float _yaw_align; // Yaw angle from body x-axis to sensor x-axis.
AP_Float _land_ofs_cm_x; // Desired landing position of the camera forward of the target in vehicle body frame AP_Float _land_ofs_cm_x; // Desired landing position of the camera forward of the target in vehicle body frame
AP_Float _land_ofs_cm_y; // Desired landing position of the camera right of the target in vehicle body frame AP_Float _land_ofs_cm_y; // Desired landing position of the camera right of the target in vehicle body frame
AP_Float _accel_noise; // accelometer process noise AP_Float _accel_noise; // accelerometer process noise
AP_Vector3f _cam_offset; // Position of the camera relative to the CG AP_Vector3f _cam_offset; // Position of the camera relative to the CG
uint32_t _last_update_ms; // system time in millisecond when update was last called uint32_t _last_update_ms; // system time in millisecond when update was last called

2
libraries/AC_PrecLand/AC_PrecLand_Companion.h
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@ -7,6 +7,8 @@
/* /*
* AC_PrecLand_Companion - implements precision landing using target vectors provided * AC_PrecLand_Companion - implements precision landing using target vectors provided
* by a companion computer (i.e. Odroid) communicating via MAVLink * by a companion computer (i.e. Odroid) communicating via MAVLink
* The companion computer must provide "Line-Of-Sight" measurements
* in the form of LANDING_TARGET mavlink messages.
*/ */
class AC_PrecLand_Companion : public AC_PrecLand_Backend class AC_PrecLand_Companion : public AC_PrecLand_Backend