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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/navigator_main.cpp
+5 -10
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@@ -342,12 +342,7 @@ void Navigator::run()
rep->current.loiter_radius = get_loiter_radius();
}
if (curr->current.loiter_direction == 1 || curr->current.loiter_direction == -1) {
rep->current.loiter_direction = curr->current.loiter_direction;
} else {
rep->current.loiter_direction = 1;
}
rep->current.loiter_direction_counter_clockwise = curr->current.loiter_direction_counter_clockwise;
}
rep->previous.timestamp = hrt_absolute_time();
@@ -385,12 +380,12 @@ void Navigator::run()
position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.loiter_direction_counter_clockwise = false;
rep->current.cruising_throttle = get_cruising_throttle();
if (PX4_ISFINITE(cmd.param1)) {
rep->current.loiter_radius = fabsf(cmd.param1);
rep->current.loiter_direction = math::signNoZero(cmd.param1);
rep->current.loiter_direction_counter_clockwise = cmd.param1 < 0;
}
rep->current.lat = position_setpoint.lat;
@@ -414,7 +409,7 @@ void Navigator::run()
rep->previous.alt = get_global_position()->alt;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction = 1;
rep->current.loiter_direction_counter_clockwise = false;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
if (home_global_position_valid()) {
@@ -918,7 +913,6 @@ void Navigator::geofence_breach_check(bool &have_geofence_position_data)
rep->current.loiter_radius = get_loiter_radius();
rep->current.alt_valid = true;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_direction = 1;
rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius();
rep->current.cruising_speed = get_cruising_speed();
@@ -1077,6 +1071,7 @@ void Navigator::reset_position_setpoint(position_setpoint_s &sp)
sp.valid = false;
sp.type = position_setpoint_s::SETPOINT_TYPE_IDLE;
sp.disable_weather_vane = false;
sp.loiter_direction_counter_clockwise = false;
}
float Navigator::get_cruising_throttle()