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rename position_controller_status field from altitude_acceptance_radius 

to altitude_acceptance
This commit is contained in:
Martina 2018-09-19 11:02:01 +02:00 committed by Lorenz Meier
parent 40650ee2c7
commit 5b8ae9fb29
3 changed files with 4 additions and 4 deletions
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2
msg/position_controller_status.msg
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@ -13,4 +13,4 @@ float32 acceptance_radius # the optimal distance to a waypoint to switch to the
float32 yaw_acceptance # NaN if not set float32 yaw_acceptance # NaN if not set
float32 altitude_acceptance_radius # the optimal vertical distance to a waypoint to switch to the next float32 altitude_acceptance # the optimal vertical distance to a waypoint to switch to the next

2
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
View File

@ -336,7 +336,7 @@ void FlightTaskAuto::_checkAvoidanceProgress()
if (pos_to_target.length() < NAV_ACC_RAD.get() && pos_to_target_z > NAV_MC_ALT_RAD.get()) { if (pos_to_target.length() < NAV_ACC_RAD.get() && pos_to_target_z > NAV_MC_ALT_RAD.get()) {
// vehicle above or below the target waypoint // vehicle above or below the target waypoint
pos_control_status.altitude_acceptance_radius = pos_to_target_z + 0.5f; pos_control_status.altitude_acceptance = pos_to_target_z + 0.5f;
} }
// do not check for waypoints yaw acceptance in navigator // do not check for waypoints yaw acceptance in navigator

4
src/modules/navigator/navigator_main.cpp
View File

@ -852,8 +852,8 @@ Navigator::get_default_altitude_acceptance_radius()
const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get(); const position_controller_status_s &pos_ctrl_status = _position_controller_status_sub.get();
if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp) if ((pos_ctrl_status.timestamp > _pos_sp_triplet.timestamp)
&& pos_ctrl_status.altitude_acceptance_radius > alt_acceptance_radius) { && pos_ctrl_status.altitude_acceptance > alt_acceptance_radius) {
alt_acceptance_radius = pos_ctrl_status.altitude_acceptance_radius; alt_acceptance_radius = pos_ctrl_status.altitude_acceptance;
} }
return alt_acceptance_radius; return alt_acceptance_radius;