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position_setpoint: replaced loiter_direction integer by boolean (#20317)

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* position_setpoint: replaced loiter_direction integer by boolean (loiter_direction_counter_clockwise)

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2022-09-29 11:06:10 +02:00
committed by GitHub
parent 5d39fdba6d
commit 20457c5e2e
9 changed files with 36 additions and 36 deletions
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src/modules/navigator/mission_block.cpp
+4 -4
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@@ -519,11 +519,11 @@ MissionBlock::is_mission_item_reached_or_completed()
float inner_angle = acosf(ratio);
// Compute "ideal" tangent origin
if (curr_sp.loiter_direction > 0) {
bearing -= inner_angle;
if (curr_sp.loiter_direction_counter_clockwise) {
bearing += inner_angle;
} else {
bearing += inner_angle;
bearing -= inner_angle;
}
// set typ to position, will get set to loiter in the fw position controller once close
@@ -687,7 +687,7 @@ MissionBlock::mission_item_to_position_setpoint(const mission_item_s &item, posi
sp->yaw_valid = PX4_ISFINITE(item.yaw);
sp->loiter_radius = (fabsf(item.loiter_radius) > NAV_EPSILON_POSITION) ? fabsf(item.loiter_radius) :
_navigator->get_loiter_radius();
sp->loiter_direction = math::signNoZero(item.loiter_radius);
sp->loiter_direction_counter_clockwise = item.loiter_radius < 0;
if (item.acceptance_radius > 0.001f && PX4_ISFINITE(item.acceptance_radius)) {
// if the mission item has a specified acceptance radius, overwrite the default one from parameters