dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Fix typo(at modules/navigator_main)

This commit is contained in:
seungjo0109 2021-12-24 21:30:02 +09:00 committed by Daniel Agar
parent 7e9cdef57b
commit 0f7c850080
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/modules/navigator/navigator_main.cpp
View File

@ -855,7 +855,7 @@ void Navigator::geofence_breach_check(bool &have_geofence_position_data)
if (_geofence.getGeofenceAction() == geofence_result_s::GF_ACTION_LOITER) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
matrix::Vector2<double> lointer_center_lat_lon;
matrix::Vector2<double> loiter_center_lat_lon;
matrix::Vector2<double> current_pos_lat_lon(_global_pos.lat, _global_pos.lon);
float loiter_altitude_amsl = _global_pos.alt;
@ -863,22 +863,22 @@ void Navigator::geofence_breach_check(bool &have_geofence_position_data)
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
// the computation of the braking distance does not match the actual braking distance. Until we have a better model
// we set the loiter point to the current position, that will make sure that the vehicle will loiter inside the fence
lointer_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForMultirotor(gf_violation_type,
loiter_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForMultirotor(gf_violation_type,
&_geofence);
loiter_altitude_amsl = _gf_breach_avoidance.generateLoiterAltitudeForMulticopter(gf_violation_type);
} else {
lointer_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForFixedWing(gf_violation_type, &_geofence);
loiter_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForFixedWing(gf_violation_type, &_geofence);
loiter_altitude_amsl = _gf_breach_avoidance.generateLoiterAltitudeForFixedWing(gf_violation_type);
}
rep->current.timestamp = hrt_absolute_time();
rep->current.yaw = get_local_position()->heading;
rep->current.yaw_valid = true;
rep->current.lat = lointer_center_lat_lon(0);
rep->current.lon = lointer_center_lat_lon(1);
rep->current.lat = loiter_center_lat_lon(0);
rep->current.lon = loiter_center_lat_lon(1);
rep->current.alt = loiter_altitude_amsl;
rep->current.valid = true;
rep->current.loiter_radius = get_loiter_radius();