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geo: refactoring on comments and usage

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This commit is contained in:
Matthias Grob
2021-10-20 15:07:18 +02:00
parent 8db7a6225b
commit 10ceea2fe6
16 changed files with 49 additions and 87 deletions
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src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.hpp
+2 -2
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@@ -196,8 +196,8 @@ private:
_triplet_next_wp; /**< next triplet from navigator which may differ from the intenal one (_next_wp) depending on the vehicle state.*/
matrix::Vector2f _closest_pt; /**< closest point to the vehicle position on the line previous - target */
MapProjection _reference_position{}; /**< Structure used to project lat/lon setpoint into local frame. */
float _reference_altitude{NAN}; /**< Altitude relative to ground. */
MapProjection _reference_position{}; /**< Class used to project lat/lon setpoint into local frame. */
float _reference_altitude{NAN}; /**< Altitude relative to ground. */
hrt_abstime _time_stamp_reference{0}; /**< time stamp when last reference update occured. */
WeatherVane *_ext_yaw_handler{nullptr}; /**< external weathervane library, used to implement a yaw control law that turns the vehicle nose into the wind */
src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.hpp
+2 -2
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@@ -206,8 +206,8 @@ protected:
virtual void _ekfResetHandlerVelocityZ(float delta_vz) {};
virtual void _ekfResetHandlerHeading(float delta_psi) {};
MapProjection _geo_projection{};
float _global_local_alt0{NAN};
MapProjection _geo_projection{};
float _global_local_alt0{NAN};
/* Time abstraction */
static constexpr uint64_t _timeout = 500000; /**< maximal time in us before a loop or data times out */