From 0f7c850080b8deb85a5eb25f132cf87e52a7071b Mon Sep 17 00:00:00 2001 From: seungjo0109 Date: Fri, 24 Dec 2021 21:30:02 +0900 Subject: [PATCH] Fix typo(at modules/navigator_main) --- src/modules/navigator/navigator_main.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index a14ae1fb01..10143be2e7 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -855,7 +855,7 @@ void Navigator::geofence_breach_check(bool &have_geofence_position_data) if (_geofence.getGeofenceAction() == geofence_result_s::GF_ACTION_LOITER) { position_setpoint_triplet_s *rep = get_reposition_triplet(); - matrix::Vector2 lointer_center_lat_lon; + matrix::Vector2 loiter_center_lat_lon; matrix::Vector2 current_pos_lat_lon(_global_pos.lat, _global_pos.lon); float loiter_altitude_amsl = _global_pos.alt; @@ -863,22 +863,22 @@ void Navigator::geofence_breach_check(bool &have_geofence_position_data) if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { // the computation of the braking distance does not match the actual braking distance. Until we have a better model // we set the loiter point to the current position, that will make sure that the vehicle will loiter inside the fence - lointer_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForMultirotor(gf_violation_type, + loiter_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForMultirotor(gf_violation_type, &_geofence); loiter_altitude_amsl = _gf_breach_avoidance.generateLoiterAltitudeForMulticopter(gf_violation_type); } else { - lointer_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForFixedWing(gf_violation_type, &_geofence); + loiter_center_lat_lon = _gf_breach_avoidance.generateLoiterPointForFixedWing(gf_violation_type, &_geofence); loiter_altitude_amsl = _gf_breach_avoidance.generateLoiterAltitudeForFixedWing(gf_violation_type); } rep->current.timestamp = hrt_absolute_time(); rep->current.yaw = get_local_position()->heading; rep->current.yaw_valid = true; - rep->current.lat = lointer_center_lat_lon(0); - rep->current.lon = lointer_center_lat_lon(1); + rep->current.lat = loiter_center_lat_lon(0); + rep->current.lon = loiter_center_lat_lon(1); rep->current.alt = loiter_altitude_amsl; rep->current.valid = true; rep->current.loiter_radius = get_loiter_radius();