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AC_Avoidance: rename get_relative_position_NED_origin methods to include 'float'

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can't have both postype and these methods, something has to shift names
This commit is contained in:
Peter Barker
2025-05-24 09:23:35 +09:00
committed by Randy Mackay
parent 696015d21b
commit ec4dd7ff59
1 changed files with 4 additions and 4 deletions
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libraries/AC_Avoidance/AC_Avoid.cpp
+4 -4
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@@ -430,7 +430,7 @@ void AC_Avoid::adjust_velocity_z(float kP, float accel_cmss, float& climb_rate_c
float alt_limit;
float curr_alt;
if (_ahrs.get_hgt_ctrl_limit(alt_limit) &&
_ahrs.get_relative_position_D_origin(curr_alt)) {
_ahrs.get_relative_position_D_origin_float(curr_alt)) {
// alt_limit is UP, curr_alt is DOWN:
const float ctrl_alt_diff = alt_limit + curr_alt;
if (!limit_max_alt || ctrl_alt_diff < max_alt_diff) {
@@ -917,7 +917,7 @@ void AC_Avoid::adjust_velocity_inclusion_circles(float kP, float accel_cmss, Vec
// get vehicle position
Vector2f position_NE;
if (!AP::ahrs().get_relative_position_NE_origin(position_NE)) {
if (!AP::ahrs().get_relative_position_NE_origin_float(position_NE)) {
// do not limit velocity if we don't have a position estimate
return;
}
@@ -1054,7 +1054,7 @@ void AC_Avoid::adjust_velocity_exclusion_circles(float kP, float accel_cmss, Vec
// get vehicle position
Vector2f position_NE;
if (!AP::ahrs().get_relative_position_NE_origin(position_NE)) {
if (!AP::ahrs().get_relative_position_NE_origin_float(position_NE)) {
// do not limit velocity if we don't have a position estimate
return;
}
@@ -1344,7 +1344,7 @@ void AC_Avoid::adjust_velocity_polygon(float kP, float accel_cmss, Vector2f &des
// do not adjust velocity if vehicle is outside the polygon fence
Vector2f position_xy;
if (!_ahrs.get_relative_position_NE_origin(position_xy)) {
if (!_ahrs.get_relative_position_NE_origin_float(position_xy)) {
// boundary is in earth frame but we have no idea
// where we are
return;