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rename updateAvoidanceWaypoints->updateAvoidanceDesiredWaypoints and

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updateAvoidanceSetpoints->updateAvoidanceDesiredSetpoints
This commit is contained in:
Martina Rivizzigno
2019-03-04 09:00:50 +01:00
committed by bresch
parent b165c41737
commit c1258931da
3 changed files with 8 additions and 7 deletions
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src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+3 -2
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@@ -243,10 +243,11 @@ bool FlightTaskAuto::_evaluateTriplets()
} }
if (_param_com_obs_avoid.get() && _sub_vehicle_status->get().is_rotary_wing) { if (_param_com_obs_avoid.get() && _sub_vehicle_status->get().is_rotary_wing) {
_obstacle_avoidance.updateAvoidanceWaypoints(_triplet_target, _yaw_setpoint, _yawspeed_setpoint, _triplet_next_wp, _obstacle_avoidance.updateAvoidanceDesiredWaypoints(_triplet_target, _yaw_setpoint, _yawspeed_setpoint,
_triplet_next_wp,
_sub_triplet_setpoint->get().next.yaw, _sub_triplet_setpoint->get().next.yaw,
_sub_triplet_setpoint->get().next.yawspeed_valid ? _sub_triplet_setpoint->get().next.yawspeed : NAN); _sub_triplet_setpoint->get().next.yawspeed_valid ? _sub_triplet_setpoint->get().next.yawspeed : NAN);
_obstacle_avoidance.updateAvoidanceSetpoints(_position_setpoint, _velocity_setpoint); _obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint);
_obstacle_avoidance.checkAvoidanceProgress(_position, _triplet_prev_wp, _target_acceptance_radius, _closest_pt); _obstacle_avoidance.checkAvoidanceProgress(_position, _triplet_prev_wp, _target_acceptance_radius, _closest_pt);
} }
src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
+2 -2
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@@ -110,7 +110,7 @@ void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &ve
yaw_speed_sp = _sub_vehicle_trajectory_waypoint->get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw_speed; yaw_speed_sp = _sub_vehicle_trajectory_waypoint->get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw_speed;
} }
void ObstacleAvoidance::updateAvoidanceWaypoints(const Vector3f &curr_wp, const float curr_yaw, void ObstacleAvoidance::updateAvoidanceDesiredWaypoints(const Vector3f &curr_wp, const float curr_yaw,
const float curr_yawspeed, const float curr_yawspeed,
const Vector3f &next_wp, const float next_yaw, const float next_yawspeed) const Vector3f &next_wp, const float next_yaw, const float next_yawspeed)
{ {
@@ -135,7 +135,7 @@ void ObstacleAvoidance::updateAvoidanceWaypoints(const Vector3f &curr_wp, const
_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].point_valid = true; _desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].point_valid = true;
} }
void ObstacleAvoidance::updateAvoidanceSetpoints(const Vector3f &pos_sp, const Vector3f &vel_sp) void ObstacleAvoidance::updateAvoidanceDesiredSetpoints(const Vector3f &pos_sp, const Vector3f &vel_sp)
{ {
pos_sp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position); pos_sp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position);
vel_sp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity); vel_sp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity);
src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
+3 -3
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@@ -81,14 +81,14 @@ public:
* @param next_yaw, next yaw triplet * @param next_yaw, next yaw triplet
* @param next_yawspeed, next yaw speed triplet * @param next_yawspeed, next yaw speed triplet
*/ */
void updateAvoidanceWaypoints(const matrix::Vector3f &curr_wp, const float curr_yaw, const float curr_yawspeed, void updateAvoidanceDesiredWaypoints(const matrix::Vector3f &curr_wp, const float curr_yaw, const float curr_yawspeed,
const matrix::Vector3f &next_wp, const float next_yaw, const float next_yawspeed); const matrix::Vector3f &next_wp, const float next_yaw, const float next_yawspeed);
/** /**
* Updates the desired setpoints to send to the obstacle avoidance system. * Updates the desired setpoints to send to the obstacle avoidance system.
* @param pos_sp, desired position setpoint computed by the active FlightTask * @param pos_sp, desired position setpoint computed by the active FlightTask
* @param vel_sp, desired velocity setpoint computed by the active FlightTask * @param vel_sp, desired velocity setpoint computed by the active FlightTask
*/ */
void updateAvoidanceSetpoints(const matrix::Vector3f &pos_sp, const matrix::Vector3f &vel_sp); void updateAvoidanceDesiredSetpoints(const matrix::Vector3f &pos_sp, const matrix::Vector3f &vel_sp);
/** /**
* Checks the vehicle progress between previous and current position triplet. * Checks the vehicle progress between previous and current position triplet.