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fix readability

This commit is contained in:
Igor Campos 2020-10-05 10:58:05 -04:00 committed by Lorenz Meier
parent e1e06364da
commit 0cb3ce4886
1 changed files with 6 additions and 6 deletions
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12
src/drivers/camera_trigger/camera_trigger.cpp
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@ -184,7 +184,7 @@ private:
float _pseudo_oblique_angle_interval;
float _pseudo_oblique_pitch_angle;
float _move_distance;
bool _updated_pose;
bool _updated_roll_angle;
uint32_t _target_system;
uint32_t _target_component;
@ -277,7 +277,7 @@ CameraTrigger::CameraTrigger() :
_pseudo_oblique_angle_interval(0.0f),
_pseudo_oblique_pitch_angle(-90),
_move_distance(0.0f),
_updated_pose(false),
_updated_roll_angle(false),
_target_system(0),
_target_component(0),
_trigger_pub(nullptr),
@ -412,15 +412,15 @@ CameraTrigger::update_distance()
float current_distance = matrix::Vector2f(_last_shoot_position - current_position).length();
if (_pseudo_oblique_num_poses > 0 && current_distance > _move_distance && _updated_pose == false) {
if (_pseudo_oblique_num_poses > 0 && current_distance > _move_distance && !_updated_roll_angle) {
adjust_roll();
_updated_pose = true;
_updated_roll_angle = true;
}
// Check that distance threshold is exceeded
if (current_distance >= _distance) {
shoot_once();
_updated_pose = false;
_updated_roll_angle = false;
_last_shoot_position = current_position;
}
}
@ -665,7 +665,7 @@ CameraTrigger::Run()
_pseudo_oblique_angle_interval = _pseudo_oblique_roll_angle * 2 / (_pseudo_oblique_num_poses - 1);
_pseudo_oblique_pose_counter = 0;
_move_distance = _distance / 2;
_updated_pose = false;
_updated_roll_angle = false;
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;