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AC_Avoidance: Naming Change No compiler change

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Leonard Hall
2025-11-14 10:01:37 +11:00
committed by Peter Barker
parent ff9d853a87
commit a7bfbefdd3
3 changed files with 463 additions and 459 deletions
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libraries/AC_Avoidance/AC_Avoid.cpp
+414 -407
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libraries/AC_Avoidance/AC_Avoid.h
+45 -48
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libraries/AC_Avoidance/AP_OABendyRuler.cpp
+4 -4
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@@ -477,7 +477,7 @@ bool AP_OABendyRuler::calc_margin_from_circular_fence(const Location &start, con
const float end_dist_sq = ahrs_home.get_distance_NE(end).length_squared();
// get circular fence radius + margin
const float fence_radius_plus_margin = fence->get_radius() - fence->get_horizontal_margin();
const float fence_radius_plus_margin = fence->get_radius_m() - fence->get_margin_ne_m();
// margin is fence radius minus the longer of start or end distance
margin = fence_radius_plus_margin - sqrtf(MAX(start_dist_sq, end_dist_sq));
@@ -510,7 +510,7 @@ bool AP_OABendyRuler::calc_margin_from_alt_fence(const Location &start, const Lo
}
// safe max alt = fence alt - fence margin
const float max_fence_alt = fence->get_safe_alt_max();
const float max_fence_alt = fence->get_safe_alt_max_m();
const float margin_start = max_fence_alt - alt_above_home_cm_start * 0.01f;
const float margin_end = max_fence_alt - alt_above_home_cm_end * 0.01f;
@@ -553,7 +553,7 @@ bool AP_OABendyRuler::calc_margin_from_inclusion_and_exclusion_polygons(const Lo
}
// get fence margin
const float fence_margin = fence->get_horizontal_margin();
const float fence_margin = fence->get_margin_ne_m();
// iterate through inclusion polygons and calculate minimum margin
bool margin_updated = false;
@@ -625,7 +625,7 @@ bool AP_OABendyRuler::calc_margin_from_inclusion_and_exclusion_circles(const Loc
}
// get fence margin
const float fence_margin = fence->get_horizontal_margin();
const float fence_margin = fence->get_margin_ne_m();
// iterate through inclusion circles and calculate minimum margin
bool margin_updated = false;