From fd61a903f9334b3a4b86dd24bb05bebd16675c08 Mon Sep 17 00:00:00 2001 From: stefanlynka Date: Tue, 24 May 2016 17:31:59 +0900 Subject: [PATCH] Tracker: Changing name of altitude_difference to alt_difference_baro --- AntennaTracker/GCS_Mavlink.cpp | 2 +- AntennaTracker/Tracker.h | 2 +- AntennaTracker/tracking.cpp | 8 ++++---- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp index f8a59e552a..8fba95d686 100644 --- a/AntennaTracker/GCS_Mavlink.cpp +++ b/AntennaTracker/GCS_Mavlink.cpp @@ -134,7 +134,7 @@ void Tracker::send_nav_controller_output(mavlink_channel_t chan) nav_status.bearing, nav_status.bearing, nav_status.distance, - nav_status.altitude_difference, + nav_status.alt_difference_baro, 0, 0); } diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h index d547d80673..ddfb6061bd 100644 --- a/AntennaTracker/Tracker.h +++ b/AntennaTracker/Tracker.h @@ -159,7 +159,7 @@ private: float bearing; // bearing to vehicle in centi-degrees float distance; // distance to vehicle in meters float pitch; // pitch to vehicle in degrees (positive means vehicle is above tracker, negative means below) - float altitude_difference; // altitude difference between tracker and vehicle in meters. positive value means vehicle is above tracker + float alt_difference_baro; // altitude difference between tracker and vehicle in meters. positive value means vehicle is above tracker float altitude_offset; // offset in meters which is added to tracker altitude to align altitude measurements with vehicle's barometer bool manual_control_yaw : 1;// true if tracker yaw is under manual control bool manual_control_pitch : 1;// true if tracker pitch is manually controlled diff --git a/AntennaTracker/tracking.cpp b/AntennaTracker/tracking.cpp index 2796014d32..ec4ed1b60b 100644 --- a/AntennaTracker/tracking.cpp +++ b/AntennaTracker/tracking.cpp @@ -60,7 +60,7 @@ void Tracker::update_bearing_and_distance() // calculate pitch to vehicle // To-Do: remove need for check of control_mode if (control_mode != SCAN && !nav_status.manual_control_pitch) { - nav_status.pitch = degrees(atan2f(nav_status.altitude_difference, nav_status.distance)); + nav_status.pitch = degrees(atan2f(nav_status.alt_difference_baro, nav_status.distance)); } } @@ -140,14 +140,14 @@ void Tracker::tracking_update_pressure(const mavlink_scaled_pressure_t &msg) // calculate altitude difference based on difference in barometric pressure float alt_diff = barometer.get_altitude_difference(local_pressure, aircraft_pressure); if (!isnan(alt_diff)) { - nav_status.altitude_difference = alt_diff + nav_status.altitude_offset; + nav_status.alt_difference_baro = alt_diff + nav_status.altitude_offset; } if (nav_status.need_altitude_calibration) { // we have done a baro calibration - zero the altitude // difference to the aircraft - nav_status.altitude_offset = -nav_status.altitude_difference; - nav_status.altitude_difference = 0; + nav_status.altitude_offset = -nav_status.alt_difference_baro; + nav_status.alt_difference_baro = 0; nav_status.need_altitude_calibration = false; }