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Navigator: rename get_loiter_radius to get_default_loiter_rad

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-07-22 12:55:03 +02:00
committed by Silvan Fuhrer
parent 972acf0203
commit 431f507d29
8 changed files with 25 additions and 25 deletions
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src/modules/navigator/mission_base.cpp
+2 -2
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@@ -406,7 +406,7 @@ MissionBase::isLanding()
// consider mission_item.loiter_radius invalid if NAN or 0, use default value in this case. // consider mission_item.loiter_radius invalid if NAN or 0, use default value in this case.
const float mission_item_loiter_radius_abs = (PX4_ISFINITE(_mission_item.loiter_radius) const float mission_item_loiter_radius_abs = (PX4_ISFINITE(_mission_item.loiter_radius)
&& fabsf(_mission_item.loiter_radius) > FLT_EPSILON) ? fabsf(_mission_item.loiter_radius) : && fabsf(_mission_item.loiter_radius) > FLT_EPSILON) ? fabsf(_mission_item.loiter_radius) :
_navigator->get_loiter_radius(); _navigator->get_default_loiter_rad();
on_landing_stage = d_current <= (_navigator->get_acceptance_radius() + mission_item_loiter_radius_abs); on_landing_stage = d_current <= (_navigator->get_acceptance_radius() + mission_item_loiter_radius_abs);
} }
@@ -883,7 +883,7 @@ MissionBase::do_abort_landing()
_mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED; _mission_item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
_mission_item.altitude_is_relative = false; _mission_item.altitude_is_relative = false;
_mission_item.altitude = alt_sp; _mission_item.altitude = alt_sp;
_mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_radius = _navigator->get_default_loiter_rad();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.autocontinue = false; _mission_item.autocontinue = false;
_mission_item.origin = ORIGIN_ONBOARD; _mission_item.origin = ORIGIN_ONBOARD;
src/modules/navigator/mission_block.cpp
+8 -8
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@@ -170,7 +170,7 @@ MissionBlock::is_mission_item_reached_or_completed()
// consider mission_item.loiter_radius invalid if NAN or 0, use default value in this case. // consider mission_item.loiter_radius invalid if NAN or 0, use default value in this case.
const float mission_item_loiter_radius_abs = (PX4_ISFINITE(_mission_item.loiter_radius) const float mission_item_loiter_radius_abs = (PX4_ISFINITE(_mission_item.loiter_radius)
&& fabsf(_mission_item.loiter_radius) > FLT_EPSILON) ? fabsf(_mission_item.loiter_radius) : && fabsf(_mission_item.loiter_radius) > FLT_EPSILON) ? fabsf(_mission_item.loiter_radius) :
_navigator->get_loiter_radius(); _navigator->get_default_loiter_rad();
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, mission_item_altitude_amsl, dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, mission_item_altitude_amsl,
_navigator->get_global_position()->lat, _navigator->get_global_position()->lat,
@@ -626,7 +626,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
sp->alt = get_absolute_altitude_for_item(item); sp->alt = get_absolute_altitude_for_item(item);
sp->yaw = item.yaw; sp->yaw = item.yaw;
sp->loiter_radius = (fabsf(item.loiter_radius) > FLT_EPSILON) ? fabsf(item.loiter_radius) : sp->loiter_radius = (fabsf(item.loiter_radius) > FLT_EPSILON) ? fabsf(item.loiter_radius) :
_navigator->get_loiter_radius(); _navigator->get_default_loiter_rad();
sp->loiter_direction_counter_clockwise = item.loiter_radius < 0; sp->loiter_direction_counter_clockwise = item.loiter_radius < 0;
if (item.acceptance_radius > FLT_EPSILON && PX4_ISFINITE(item.acceptance_radius)) { if (item.acceptance_radius > FLT_EPSILON && PX4_ISFINITE(item.acceptance_radius)) {
@@ -730,7 +730,7 @@ MissionBlock::setLoiterItemFromCurrentPosition(struct mission_item_s *item)
} }
item->altitude = loiter_altitude_amsl; item->altitude = loiter_altitude_amsl;
item->loiter_radius = _navigator->get_loiter_radius(); item->loiter_radius = _navigator->get_default_loiter_rad();
item->yaw = NAN; item->yaw = NAN;
} }
@@ -742,7 +742,7 @@ MissionBlock::setLoiterItemFromCurrentPositionWithBraking(struct mission_item_s
_navigator->preproject_stop_point(item->lat, item->lon); _navigator->preproject_stop_point(item->lat, item->lon);
item->altitude = _navigator->get_global_position()->alt; item->altitude = _navigator->get_global_position()->alt;
item->loiter_radius = _navigator->get_loiter_radius(); item->loiter_radius = _navigator->get_default_loiter_rad();
item->yaw = NAN; item->yaw = NAN;
} }
@@ -773,7 +773,7 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude)
item->altitude_is_relative = false; item->altitude_is_relative = false;
item->acceptance_radius = _navigator->get_acceptance_radius(); item->acceptance_radius = _navigator->get_acceptance_radius();
item->loiter_radius = _navigator->get_loiter_radius(); item->loiter_radius = _navigator->get_default_loiter_rad();
item->autocontinue = false; item->autocontinue = false;
item->origin = ORIGIN_ONBOARD; item->origin = ORIGIN_ONBOARD;
} }
@@ -808,7 +808,7 @@ MissionBlock::set_land_item(struct mission_item_s *item)
item->altitude = 0; item->altitude = 0;
item->altitude_is_relative = false; item->altitude_is_relative = false;
item->loiter_radius = _navigator->get_loiter_radius(); item->loiter_radius = _navigator->get_default_loiter_rad();
item->acceptance_radius = _navigator->get_acceptance_radius(); item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f; item->time_inside = 0.0f;
item->autocontinue = true; item->autocontinue = true;
@@ -824,7 +824,7 @@ MissionBlock::set_idle_item(struct mission_item_s *item)
item->altitude_is_relative = false; item->altitude_is_relative = false;
item->altitude = _navigator->get_home_position()->alt; item->altitude = _navigator->get_home_position()->alt;
item->yaw = NAN; item->yaw = NAN;
item->loiter_radius = _navigator->get_loiter_radius(); item->loiter_radius = _navigator->get_default_loiter_rad();
item->acceptance_radius = _navigator->get_acceptance_radius(); item->acceptance_radius = _navigator->get_acceptance_radius();
item->time_inside = 0.0f; item->time_inside = 0.0f;
item->autocontinue = true; item->autocontinue = true;
@@ -896,7 +896,7 @@ MissionBlock::initialize()
_mission_item.lat = (double)NAN; _mission_item.lat = (double)NAN;
_mission_item.lon = (double)NAN; _mission_item.lon = (double)NAN;
_mission_item.yaw = NAN; _mission_item.yaw = NAN;
_mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_radius = _navigator->get_default_loiter_rad();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f; _mission_item.time_inside = 0.0f;
_mission_item.autocontinue = true; _mission_item.autocontinue = true;
src/modules/navigator/navigator.h
+1 -1
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@@ -179,7 +179,7 @@ public:
Geofence &get_geofence() { return _geofence; } Geofence &get_geofence() { return _geofence; }
float get_loiter_radius() { return _param_nav_loiter_rad.get(); } float get_default_loiter_rad() { return _param_nav_loiter_rad.get(); }
/** /**
* Returns the default acceptance radius defined by the parameter * Returns the default acceptance radius defined by the parameter
src/modules/navigator/navigator_main.cpp
+9 -9
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@@ -368,7 +368,7 @@ void Navigator::run()
} else { } else {
rep->current.loiter_radius = get_loiter_radius(); rep->current.loiter_radius = get_default_loiter_rad();
} }
if (PX4_ISFINITE(curr->current.loiter_minor_radius) && fabsf(curr->current.loiter_minor_radius) > FLT_EPSILON) { if (PX4_ISFINITE(curr->current.loiter_minor_radius) && fabsf(curr->current.loiter_minor_radius) > FLT_EPSILON) {
@@ -471,7 +471,7 @@ void Navigator::run()
rep->current.loiter_radius = curr->current.loiter_radius; rep->current.loiter_radius = curr->current.loiter_radius;
} else { } else {
rep->current.loiter_radius = get_loiter_radius(); rep->current.loiter_radius = get_default_loiter_rad();
} }
rep->current.loiter_direction_counter_clockwise = curr->current.loiter_direction_counter_clockwise; rep->current.loiter_direction_counter_clockwise = curr->current.loiter_direction_counter_clockwise;
@@ -509,7 +509,7 @@ void Navigator::run()
if (geofence_allows_position(position_setpoint)) { if (geofence_allows_position(position_setpoint)) {
position_setpoint_triplet_s *rep = get_reposition_triplet(); position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER; rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_radius = get_loiter_radius(); rep->current.loiter_radius = get_default_loiter_rad();
rep->current.loiter_direction_counter_clockwise = false; rep->current.loiter_direction_counter_clockwise = false;
rep->current.loiter_orientation = 0.0f; rep->current.loiter_orientation = 0.0f;
rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_ORBIT; rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_ORBIT;
@@ -557,8 +557,8 @@ void Navigator::run()
if (geofence_allows_position(position_setpoint)) { if (geofence_allows_position(position_setpoint)) {
position_setpoint_triplet_s *rep = get_reposition_triplet(); position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER; rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_minor_radius = fabsf(get_loiter_radius()); rep->current.loiter_minor_radius = fabsf(get_default_loiter_rad());
rep->current.loiter_direction_counter_clockwise = get_loiter_radius() < 0; rep->current.loiter_direction_counter_clockwise = get_default_loiter_rad() < 0;
rep->current.loiter_orientation = 0.0f; rep->current.loiter_orientation = 0.0f;
rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_FIGUREEIGHT; rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_FIGUREEIGHT;
rep->current.cruising_speed = get_cruising_speed(); rep->current.cruising_speed = get_cruising_speed();
@@ -604,7 +604,7 @@ void Navigator::run()
rep->previous.lon = get_global_position()->lon; rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt; rep->previous.alt = get_global_position()->alt;
rep->current.loiter_radius = get_loiter_radius(); rep->current.loiter_radius = get_default_loiter_rad();
rep->current.loiter_direction_counter_clockwise = false; rep->current.loiter_direction_counter_clockwise = false;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF; rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
rep->current.cruising_speed = -1.f; // reset to default rep->current.cruising_speed = -1.f; // reset to default
@@ -941,7 +941,7 @@ void Navigator::geofence_breach_check()
vertical_test_point_distance = _gf_breach_avoidance.computeVerticalBrakingDistanceMultirotor(); vertical_test_point_distance = _gf_breach_avoidance.computeVerticalBrakingDistanceMultirotor();
} else { } else {
test_point_distance = 2.0f * get_loiter_radius(); test_point_distance = 2.0f * get_default_loiter_rad();
vertical_test_point_distance = 5.0f; vertical_test_point_distance = 5.0f;
if (hrt_absolute_time() - pos_ctrl_status.timestamp < 100000 && PX4_ISFINITE(pos_ctrl_status.nav_bearing)) { if (hrt_absolute_time() - pos_ctrl_status.timestamp < 100000 && PX4_ISFINITE(pos_ctrl_status.nav_bearing)) {
@@ -1056,7 +1056,7 @@ void Navigator::geofence_breach_check()
rep->current.lon = loiter_longitude; rep->current.lon = loiter_longitude;
rep->current.alt = loiter_altitude_amsl; rep->current.alt = loiter_altitude_amsl;
rep->current.valid = true; rep->current.valid = true;
rep->current.loiter_radius = get_loiter_radius(); rep->current.loiter_radius = get_default_loiter_rad();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER; rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.cruising_throttle = get_cruising_throttle(); rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius(); rep->current.acceptance_radius = get_acceptance_radius();
@@ -1173,7 +1173,7 @@ void Navigator::reset_position_setpoint(position_setpoint_s &sp)
sp.lat = static_cast<double>(NAN); sp.lat = static_cast<double>(NAN);
sp.lon = static_cast<double>(NAN); sp.lon = static_cast<double>(NAN);
sp.yaw = NAN; sp.yaw = NAN;
sp.loiter_radius = get_loiter_radius(); sp.loiter_radius = get_default_loiter_rad();
sp.acceptance_radius = get_default_acceptance_radius(); sp.acceptance_radius = get_default_acceptance_radius();
sp.cruising_speed = get_cruising_speed(); sp.cruising_speed = get_cruising_speed();
sp.cruising_throttle = get_cruising_throttle(); sp.cruising_throttle = get_cruising_throttle();
src/modules/navigator/rtl_direct.cpp
+1 -1
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@@ -244,7 +244,7 @@ void RtlDirect::set_rtl_item()
.alt = _rtl_alt, .alt = _rtl_alt,
.yaw = _param_wv_en.get() ? NAN : _navigator->get_local_position()->heading, .yaw = _param_wv_en.get() ? NAN : _navigator->get_local_position()->heading,
}; };
setLoiterToAltMissionItem(_mission_item, pos_yaw_sp, _navigator->get_loiter_radius()); setLoiterToAltMissionItem(_mission_item, pos_yaw_sp, _navigator->get_default_loiter_rad());
break; break;
} }
src/modules/navigator/rtl_direct_mission_land.cpp
+1 -1
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@@ -142,7 +142,7 @@ void RtlDirectMissionLand::setActiveMissionItems()
_mission_item.time_inside = 0.0f; _mission_item.time_inside = 0.0f;
_mission_item.autocontinue = true; _mission_item.autocontinue = true;
_mission_item.origin = ORIGIN_ONBOARD; _mission_item.origin = ORIGIN_ONBOARD;
_mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_radius = _navigator->get_default_loiter_rad();
mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL Mission land: climb to %d m\t", mavlink_log_info(_navigator->get_mavlink_log_pub(), "RTL Mission land: climb to %d m\t",
(int)ceilf(_rtl_alt)); (int)ceilf(_rtl_alt));
src/modules/navigator/takeoff.cpp
+2 -2
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@@ -77,7 +77,7 @@ Takeoff::on_active()
// as the loiter is established. therefore, set a small loiter time so that the mission item will be reached quickly, // as the loiter is established. therefore, set a small loiter time so that the mission item will be reached quickly,
// however it will just continue loitering as there is no next mission item // however it will just continue loitering as there is no next mission item
_mission_item.time_inside = 1.f; _mission_item.time_inside = 1.f;
_mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_radius = _navigator->get_default_loiter_rad();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.altitude = _loiter_altitude_msl; _mission_item.altitude = _loiter_altitude_msl;
@@ -114,7 +114,7 @@ Takeoff::on_active()
const float mission_item_loiter_radius_abs = (PX4_ISFINITE(_mission_item.loiter_radius) const float mission_item_loiter_radius_abs = (PX4_ISFINITE(_mission_item.loiter_radius)
&& fabsf(_mission_item.loiter_radius) > FLT_EPSILON) ? fabsf(_mission_item.loiter_radius) : && fabsf(_mission_item.loiter_radius) > FLT_EPSILON) ? fabsf(_mission_item.loiter_radius) :
_navigator->get_loiter_radius(); _navigator->get_default_loiter_rad();
lateral_acceptance_reached = distance_to_loiter < _navigator->get_acceptance_radius() + mission_item_loiter_radius_abs; lateral_acceptance_reached = distance_to_loiter < _navigator->get_acceptance_radius() + mission_item_loiter_radius_abs;
} }
src/modules/navigator/vtol_takeoff.cpp
+1 -1
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@@ -116,7 +116,7 @@ VtolTakeoff::on_active()
// as the loiter is established. therefore, set a small loiter time so that the mission item will be reached quickly, // as the loiter is established. therefore, set a small loiter time so that the mission item will be reached quickly,
// however it will just continue loitering as there is no next mission item // however it will just continue loitering as there is no next mission item
_mission_item.time_inside = 1.f; _mission_item.time_inside = 1.f;
_mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_radius = _navigator->get_default_loiter_rad();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.altitude = _takeoff_alt_msl + _param_loiter_alt.get(); _mission_item.altitude = _takeoff_alt_msl + _param_loiter_alt.get();