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geo: refactoring on comments and usage

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This commit is contained in:
Matthias Grob
2021-12-06 14:30:14 +01:00
parent 8db7a6225b
commit 10ceea2fe6
16 changed files with 49 additions and 87 deletions
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src/modules/navigator/follow_target.cpp
+2 -2
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@@ -135,8 +135,8 @@ void FollowTarget::on_active()
// get distance to target
target_ref.initReference(_navigator->get_global_position()->lat, _navigator->get_global_position()->lon);
target_ref.project(_current_target_motion.lat, _current_target_motion.lon, _target_distance(0),
_target_distance(1));
target_ref.project(_current_target_motion.lat, _current_target_motion.lon,
_target_distance(0), _target_distance(1));
}
src/modules/navigator/geofence.h
+1 -1
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@@ -173,7 +173,7 @@ private:
PolygonInfo *_polygons{nullptr};
int _num_polygons{0};
MapProjection _projection_reference = {}; ///< reference to convert (lon, lat) to local [m]
MapProjection _projection_reference{}; ///< class to convert (lon, lat) to local [m]
DEFINE_PARAMETERS(
(ParamInt<px4::params::GF_ACTION>) _param_gf_action,
src/modules/navigator/precland.cpp
+4 -11
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@@ -278,11 +278,8 @@ PrecLand::run_state_horizontal_approach()
slewrate(x, y);
// XXX need to transform to GPS coords because mc_pos_control only looks at that
double lat, lon;
_map_ref.reproject(x, y, lat, lon);
_map_ref.reproject(x, y, pos_sp_triplet->current.lat, pos_sp_triplet->current.lon);
pos_sp_triplet->current.lat = lat;
pos_sp_triplet->current.lon = lon;
pos_sp_triplet->current.alt = _approach_alt;
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
@@ -315,11 +312,7 @@ PrecLand::run_state_descend_above_target()
}
// XXX need to transform to GPS coords because mc_pos_control only looks at that
double lat, lon;
_map_ref.reproject(_target_pose.x_abs, _target_pose.y_abs, lat, lon);
pos_sp_triplet->current.lat = lat;
pos_sp_triplet->current.lon = lon;
_map_ref.reproject(_target_pose.x_abs, _target_pose.y_abs, pos_sp_triplet->current.lat, pos_sp_triplet->current.lon);
pos_sp_triplet->current.type = position_setpoint_s::SETPOINT_TYPE_LAND;
@@ -555,8 +548,8 @@ void PrecLand::slewrate(float &sp_x, float &sp_y)
dt = 50000 / SEC2USEC;
// set a best guess for previous setpoints for smooth transition
_map_ref.project(_navigator->get_position_setpoint_triplet()->current.lat,
_navigator->get_position_setpoint_triplet()->current.lon, _sp_pev(0), _sp_pev(1));
_sp_pev = _map_ref.project(_navigator->get_position_setpoint_triplet()->current.lat,
_navigator->get_position_setpoint_triplet()->current.lon);
_sp_pev_prev(0) = _sp_pev(0) - _navigator->get_local_position()->vx * dt;
_sp_pev_prev(1) = _sp_pev(1) - _navigator->get_local_position()->vy * dt;
}
src/modules/navigator/precland.h
+1 -1
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@@ -111,7 +111,7 @@ private:
bool _target_pose_valid{false}; /**< whether we have received a landing target position message */
bool _target_pose_updated{false}; /**< wether the landing target position message is updated */
MapProjection _map_ref {}; /**< reference for local/global projections */
MapProjection _map_ref{}; /**< class for local/global projections */
uint64_t _state_start_time{0}; /**< time when we entered current state */
uint64_t _last_slewrate_time{0}; /**< time when we last limited setpoint changes */