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mc_pos_control: change name _pos_first_nofinite to _triplet_lat_lon_finite

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Dennis Mannhart 2017-09-04 11:12:29 +02:00 committed by Lorenz Meier
parent cdb610a453
commit 22be99da3e
1 changed files with 5 additions and 5 deletions
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10
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -229,7 +229,7 @@ private:
bool _alt_hold_engaged;
bool _run_pos_control;
bool _run_alt_control;
bool _pos_first_nonfinite;
bool _triplet_lat_lon_finite;
bool _reset_int_z = true;
bool _reset_int_xy = true;
@ -419,7 +419,7 @@ MulticopterPositionControl::MulticopterPositionControl() :
_alt_hold_engaged(false),
_run_pos_control(true),
_run_alt_control(true),
_pos_first_nonfinite(true),
_triplet_lat_lon_finite(true),
_yaw(0.0f),
_yaw_takeoff(0.0f),
_vel_max_xy(0.0f),
@ -1412,13 +1412,13 @@ void MulticopterPositionControl::control_auto(float dt)
_pos_sp_triplet.current.lat, _pos_sp_triplet.current.lon,
&curr_pos_sp.data[0], &curr_pos_sp.data[1]);
_pos_first_nonfinite = true;
_triplet_lat_lon_finite = true;
} else { // use current position if NAN -> e.g. land
if (_pos_first_nonfinite) {
if (_triplet_lat_lon_finite) {
curr_pos_sp.data[0] = _pos(0);
curr_pos_sp.data[1] = _pos(1);
_pos_first_nonfinite = false;
_triplet_lat_lon_finite = false;
}
}