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AC_WPNav: correct comments

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all position vectors are offsets from the ekf origin (not from the ahrs home)
This commit is contained in:
Randy Mackay
2017-08-17 16:05:08 +09:00
parent bbb1329116
commit 222dd0c9be
1 changed files with 11 additions and 11 deletions
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libraries/AC_WPNav/AC_WPNav.h
+11 -11
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@@ -71,7 +71,7 @@ public:
/// loiter controller
///
/// init_loiter_target to a position in cm from home
/// init_loiter_target to a position in cm from ekf origin
/// caller can set reset_I to false to preserve I term since previous time loiter controller ran. Should only be false when caller is sure that not too much time has passed to invalidate the I terms
void init_loiter_target(const Vector3f& position, bool reset_I=true);
@@ -143,21 +143,21 @@ public:
/// get_wp_acceleration - returns acceleration in cm/s/s during missions
float get_wp_acceleration() const { return _wp_accel_cms.get(); }
/// get_wp_destination waypoint using position vector (distance from home in cm)
/// get_wp_destination waypoint using position vector (distance from ekf origin in cm)
const Vector3f &get_wp_destination() const { return _destination; }
/// get origin using position vector (distance from home in cm)
/// get origin using position vector (distance from ekf origin in cm)
const Vector3f &get_wp_origin() const { return _origin; }
/// set_wp_destination waypoint using location class
/// returns false if conversion from location to vector from ekf origin cannot be calculated
bool set_wp_destination(const Location_Class& destination);
/// set_wp_destination waypoint using position vector (distance from home in cm)
/// set_wp_destination waypoint using position vector (distance from ekf origin in cm)
/// terrain_alt should be true if destination.z is a desired altitude above terrain
bool set_wp_destination(const Vector3f& destination, bool terrain_alt = false);
/// set_wp_origin_and_destination - set origin and destination waypoints using position vectors (distance from home in cm)
/// set_wp_origin_and_destination - set origin and destination waypoints using position vectors (distance from ekf origin in cm)
/// terrain_alt should be true if origin.z and destination.z are desired altitudes above terrain (false if these are alt-above-ekf-origin)
/// returns false on failure (likely caused by missing terrain data)
bool set_wp_origin_and_destination(const Vector3f& origin, const Vector3f& destination, bool terrain_alt = false);
@@ -223,7 +223,7 @@ public:
/// next_destination should be set to the next segment's destination if the seg_end_type is SEGMENT_END_STRAIGHT or SEGMENT_END_SPLINE
bool set_spline_destination(const Location_Class& destination, bool stopped_at_start, spline_segment_end_type seg_end_type, Location_Class next_destination);
/// set_spline_destination waypoint using position vector (distance from home in cm)
/// set_spline_destination waypoint using position vector (distance from ekf origin in cm)
/// returns false if conversion from location to vector from ekf origin cannot be calculated
/// terrain_alt should be true if destination.z is a desired altitudes above terrain (false if its desired altitudes above ekf origin)
/// stopped_at_start should be set to true if vehicle is stopped at the origin
@@ -232,7 +232,7 @@ public:
/// next_destination.z must be in the same "frame" as destination.z (i.e. if destination is a alt-above-terrain, next_destination should be too)
bool set_spline_destination(const Vector3f& destination, bool terrain_alt, bool stopped_at_start, spline_segment_end_type seg_end_type, const Vector3f& next_destination);
/// set_spline_origin_and_destination - set origin and destination waypoints using position vectors (distance from home in cm)
/// set_spline_origin_and_destination - set origin and destination waypoints using position vectors (distance from ekf origin in cm)
/// terrain_alt should be true if origin.z and destination.z are desired altitudes above terrain (false if desired altitudes above ekf origin)
/// stopped_at_start should be set to true if vehicle is stopped at the origin
/// seg_end_type should be set to stopped, straight or spline depending upon the next segment's type
@@ -253,10 +253,10 @@ public:
int32_t get_roll() const { return _pos_control.get_roll(); }
int32_t get_pitch() const { return _pos_control.get_pitch(); }
/// get_desired_alt - get desired altitude (in cm above home) from loiter or wp controller which should be fed into throttle controller
/// get_desired_alt - get desired altitude (in cm above ekf origin) from loiter or wp controller which should be fed into throttle controller
float get_desired_alt() const { return _pos_control.get_alt_target(); }
/// set_desired_alt - set desired altitude (in cm above home)
/// set_desired_alt - set desired altitude (in cm above ekf origin)
void set_desired_alt(float desired_alt) { _pos_control.set_alt_target(desired_alt); }
/// advance_wp_target_along_track - move target location along track from origin to destination
@@ -344,8 +344,8 @@ protected:
// waypoint controller internal variables
uint32_t _wp_last_update; // time of last update_wpnav call
uint8_t _wp_step; // used to decide which portion of wpnav controller to run during this iteration
Vector3f _origin; // starting point of trip to next waypoint in cm from home (equivalent to next_WP)
Vector3f _destination; // target destination in cm from home (equivalent to next_WP)
Vector3f _origin; // starting point of trip to next waypoint in cm from ekf origin
Vector3f _destination; // target destination in cm from ekf origin
Vector3f _pos_delta_unit; // each axis's percentage of the total track from origin to destination
float _track_length; // distance in cm between origin and destination
float _track_length_xy; // horizontal distance in cm between origin and destination