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Standardize class member variable naming convention in the FixedWingLandDetector class.

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This commit is contained in:
mcsauder
2019-06-26 14:06:56 -04:00
committed by Daniel Agar
parent 7ba658d573
commit 2b9ad179a2
2 changed files with 12 additions and 12 deletions
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src/modules/land_detector/FixedwingLandDetector.cpp
+9 -9
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@@ -65,8 +65,8 @@ FixedwingLandDetector::FixedwingLandDetector()
void FixedwingLandDetector::_update_topics() void FixedwingLandDetector::_update_topics()
{ {
_airspeedSub.update(&_airspeed); _airspeedSub.update(&_airspeed);
_sensor_bias_sub.update(&_sensors); _sensor_bias_sub.update(&_sensor_bias);
_local_pos_sub.update(&_local_pos); _vehicle_local_position_sub.update(&_vehicle_local_position);
} }
void FixedwingLandDetector::_update_params() void FixedwingLandDetector::_update_params()
@@ -82,7 +82,7 @@ float FixedwingLandDetector::_get_max_altitude()
// TODO // TODO
// This means no altitude limit as the limit // This means no altitude limit as the limit
// is always current position plus 10000 meters // is always current position plus 10000 meters
return roundf(-_local_pos.z + 10000); return roundf(-_vehicle_local_position.z + 10000);
} }
bool FixedwingLandDetector::_get_landed_state() bool FixedwingLandDetector::_get_landed_state()
@@ -94,18 +94,18 @@ bool FixedwingLandDetector::_get_landed_state()
bool landDetected = false; bool landDetected = false;
if (hrt_elapsed_time(&_local_pos.timestamp) < 500 * 1000) { if (hrt_elapsed_time(&_vehicle_local_position.timestamp) < 500 * 1000) {
// horizontal velocity // horizontal velocity
float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_local_pos.vx * _local_pos.vx + _local_pos.vy * float val = 0.97f * _velocity_xy_filtered + 0.03f * sqrtf(_vehicle_local_position.vx * _vehicle_local_position.vx +
_local_pos.vy); _vehicle_local_position.vy * _vehicle_local_position.vy);
if (PX4_ISFINITE(val)) { if (PX4_ISFINITE(val)) {
_velocity_xy_filtered = val; _velocity_xy_filtered = val;
} }
// vertical velocity // vertical velocity
val = 0.99f * _velocity_z_filtered + 0.01f * fabsf(_local_pos.vz); val = 0.99f * _velocity_z_filtered + 0.01f * fabsf(_vehicle_local_position.vz);
if (PX4_ISFINITE(val)) { if (PX4_ISFINITE(val)) {
_velocity_z_filtered = val; _velocity_z_filtered = val;
@@ -115,8 +115,8 @@ bool FixedwingLandDetector::_get_landed_state()
// a leaking lowpass prevents biases from building up, but // a leaking lowpass prevents biases from building up, but
// gives a mostly correct response for short impulses // gives a mostly correct response for short impulses
const float acc_hor = sqrtf(_sensors.accel_x * _sensors.accel_x + const float acc_hor = sqrtf(_sensor_bias.accel_x * _sensor_bias.accel_x +
_sensors.accel_y * _sensors.accel_y); _sensor_bias.accel_y * _sensor_bias.accel_y);
_accel_horz_lp = _accel_horz_lp * 0.8f + acc_hor * 0.18f; _accel_horz_lp = _accel_horz_lp * 0.8f + acc_hor * 0.18f;
// crude land detector for fixedwing // crude land detector for fixedwing
src/modules/land_detector/FixedwingLandDetector.h
+3 -3
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@@ -89,11 +89,11 @@ private:
uORB::Subscription _airspeedSub{ORB_ID(airspeed)}; uORB::Subscription _airspeedSub{ORB_ID(airspeed)};
uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)}; uORB::Subscription _sensor_bias_sub{ORB_ID(sensor_bias)};
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position}); uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position});
airspeed_s _airspeed{}; airspeed_s _airspeed{};
sensor_bias_s _sensors{}; sensor_bias_s _sensor_bias{};
vehicle_local_position_s _local_pos{}; vehicle_local_position_s _vehicle_local_position{};
float _velocity_xy_filtered{0.0f}; float _velocity_xy_filtered{0.0f};
float _velocity_z_filtered{0.0f}; float _velocity_z_filtered{0.0f};