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ArduCopter: make Location(Vector3f) require ALTFRAME

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This commit is contained in:
Josh Henderson 2021-03-17 17:17:14 -04:00 committed by Randy Mackay
parent 5551deab4b
commit f65c4df358
3 changed files with 6 additions and 6 deletions
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6
ArduCopter/mode_auto.cpp
View File

@ -287,7 +287,7 @@ void ModeAuto::circle_movetoedge_start(const Location &circle_center, float radi
_mode = Auto_CircleMoveToEdge;
// convert circle_edge_neu to Location
Location circle_edge(circle_edge_neu);
Location circle_edge(circle_edge_neu, Location::AltFrame::ABOVE_ORIGIN);
// convert altitude to same as command
circle_edge.set_alt_cm(circle_center.alt, circle_center.get_alt_frame());
@ -1199,7 +1199,7 @@ void ModeAuto::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
// To-Do: make this simpler
Vector3f temp_pos;
copter.wp_nav->get_wp_stopping_point_xy(temp_pos);
const Location temp_loc(temp_pos);
const Location temp_loc(temp_pos, Location::AltFrame::ABOVE_ORIGIN);
target_loc.lat = temp_loc.lat;
target_loc.lng = temp_loc.lng;
}
@ -1707,7 +1707,7 @@ bool ModeAuto::verify_payload_place()
}
FALLTHROUGH;
case PayloadPlaceStateType_Ascending_Start: {
Location target_loc = inertial_nav.get_position();
Location target_loc(inertial_nav.get_position(), Location::AltFrame::ABOVE_ORIGIN);
target_loc.alt = nav_payload_place.descend_start_altitude;
wp_start(target_loc);
nav_payload_place.state = PayloadPlaceStateType_Ascending;

4
ArduCopter/mode_guided.cpp
View File

@ -241,7 +241,7 @@ bool ModeGuided::set_destination(const Vector3f& destination, bool use_yaw, floa
{
#if AC_FENCE == ENABLED
// reject destination if outside the fence
const Location dest_loc(destination);
const Location dest_loc(destination, terrain_alt ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_ORIGIN);
if (!copter.fence.check_destination_within_fence(dest_loc)) {
AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK
@ -340,7 +340,7 @@ bool ModeGuided::set_destination_posvel(const Vector3f& destination, const Vecto
{
#if AC_FENCE == ENABLED
// reject destination if outside the fence
const Location dest_loc(destination);
const Location dest_loc(destination, Location::AltFrame::ABOVE_ORIGIN);
if (!copter.fence.check_destination_within_fence(dest_loc)) {
AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::DEST_OUTSIDE_FENCE);
// failure is propagated to GCS with NAK

2
ArduCopter/mode_rtl.cpp
View File

@ -419,7 +419,7 @@ void ModeRTL::build_path()
Vector3f stopping_point;
pos_control->get_stopping_point_xy(stopping_point);
pos_control->get_stopping_point_z(stopping_point);
rtl_path.origin_point = Location(stopping_point);
rtl_path.origin_point = Location(stopping_point, Location::AltFrame::ABOVE_ORIGIN);
rtl_path.origin_point.change_alt_frame(Location::AltFrame::ABOVE_HOME);
// compute return target