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CollisionPrevention: follow parameter variable naming convention

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This commit is contained in:
Matthias Grob
2024-11-19 20:42:12 +01:00
committed by Claudio Chies
parent 30eec33e09
commit 1410325c62
2 changed files with 5 additions and 5 deletions
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src/lib/collision_prevention/CollisionPrevention.cpp
+3 -3
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@@ -358,8 +358,8 @@ CollisionPrevention::_checkSetpointDirectionFeasability()
for (int i = 0; i < BIN_COUNT; i++) {
// check if our setpoint is either pointing in a direction where data exists, or if not, wether we are allowed to go where there is no data
if ((_obstacle_map_body_frame.distances[i] == UINT16_MAX && i == _setpoint_index) && (!_param_cp_go_nodata.get()
|| (_param_cp_go_nodata.get() && _data_fov[i]))) {
if ((_obstacle_map_body_frame.distances[i] == UINT16_MAX && i == _setpoint_index) && (!_param_cp_go_no_data.get()
|| (_param_cp_go_no_data.get() && _data_fov[i]))) {
setpoint_feasible = false;
}
@@ -605,7 +605,7 @@ void CollisionPrevention::_getVelocityCompensationAcceleration(const float vehic
const float max_vel = math::trajectory::computeMaxSpeedFromDistance(_param_mpc_jerk_max.get(),
_param_mpc_acc_hor.get(), stop_distance, 0.f);
// we dont take the minimum of the last term because of stop_distance is zero but current velocity is not, we want the acceleration to become negative and slow us down.
const float curr_acc_vel_constraint = _param_mpc_vel_p_acc.get() * (max_vel - curr_vel_parallel);
const float curr_acc_vel_constraint = _param_mpc_xy_vel_p_acc.get() * (max_vel - curr_vel_parallel);
if (curr_acc_vel_constraint < vel_comp_accel) {
vel_comp_accel = curr_acc_vel_constraint;
src/lib/collision_prevention/CollisionPrevention.hpp
+2 -2
View File
@@ -196,11 +196,11 @@ private:
(ParamFloat<px4::params::CP_DIST>) _param_cp_dist, /**< collision prevention keep minimum distance */
(ParamFloat<px4::params::CP_DELAY>) _param_cp_delay, /**< delay of the range measurement data*/
(ParamFloat<px4::params::CP_GUIDE_ANG>) _param_cp_guide_ang, /**< collision prevention change setpoint angle */
(ParamBool<px4::params::CP_GO_NO_DATA>) _param_cp_go_nodata, /**< movement allowed where no data*/
(ParamBool<px4::params::CP_GO_NO_DATA>) _param_cp_go_no_data, /**< movement allowed where no data*/
(ParamFloat<px4::params::MPC_XY_P>) _param_mpc_xy_p, /**< p gain from position controller*/
(ParamFloat<px4::params::MPC_JERK_MAX>) _param_mpc_jerk_max, /**< vehicle maximum jerk*/
(ParamFloat<px4::params::MPC_ACC_HOR>) _param_mpc_acc_hor, /**< vehicle maximum horizontal acceleration*/
(ParamFloat<px4::params::MPC_XY_VEL_P_ACC>) _param_mpc_vel_p_acc, /**< p gain from velocity controller*/
(ParamFloat<px4::params::MPC_XY_VEL_P_ACC>) _param_mpc_xy_vel_p_acc, /**< p gain from velocity controller*/
(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual /**< maximum velocity in manual flight mode*/
)