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AC_PrecLand: remove check of type when using distance-to-target

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This commit is contained in:
Randy Mackay 2017-02-03 16:03:02 +09:00
parent 438ffd870a
commit 974a6f48c6
3 changed files with 9 additions and 8 deletions
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5
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -162,10 +162,11 @@ void AC_PrecLand::update(float rangefinder_alt_cm, bool rangefinder_alt_valid)
Vector3f target_vec_unit_ned = _attitude_history.front() * Rz * target_vec_unit_body;
bool target_vec_valid = target_vec_unit_ned.z > 0.0f;
bool alt_valid = (rangefinder_alt_valid && rangefinder_alt_cm > 0.0f) || (_backend->distance_to_target() > 0.0f);
if (target_vec_valid && ( (rangefinder_alt_valid && rangefinder_alt_cm > 0.0f) || ((enum PrecLandType)(_type.get()) == PRECLAND_TYPE_COMPANION && _backend->distance_to_target()) ) ) {
if (target_vec_valid && alt_valid) {
float alt;
if ((enum PrecLandType)(_type.get()) == PRECLAND_TYPE_COMPANION && _backend->distance_to_target()) {
if (_backend->distance_to_target() > 0.0f) {
alt = _backend->distance_to_target();
} else {
alt = MAX(rangefinder_alt_cm*0.01f, 0.0f);

6
libraries/AC_PrecLand/AC_PrecLand_Backend.h
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@ -32,9 +32,9 @@ public:
// return true if there is a valid los measurement available
virtual bool have_los_meas() = 0;
// return distance to target
virtual float distance_to_target() = 0;
// returns distance to target in meters (0 means distance is not known)
virtual float distance_to_target() { return 0.0f; };
// parses a mavlink message from the companion computer
virtual void handle_msg(mavlink_message_t* msg) {};

6
libraries/AC_PrecLand/AC_PrecLand_Companion.h
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@ -31,9 +31,9 @@ public:
// return true if there is a valid los measurement available
bool have_los_meas();
// return distance to target
float distance_to_target();
// returns distance to target in meters (0 means distance is not known)
float distance_to_target() override;
// parses a mavlink message from the companion computer
void handle_msg(mavlink_message_t* msg);