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rename variables

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This commit is contained in:
Igor Campos
2020-11-19 22:01:09 -04:00
committed by Lorenz Meier
parent dfcd6a7c16
commit 33b831efe3
1 changed files with 27 additions and 27 deletions
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src/drivers/camera_trigger/camera_trigger.cpp
+27 -27
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@@ -178,12 +178,12 @@ private:
bool _turning_on;
matrix::Vector2f _last_shoot_position;
bool _valid_position;
uint32_t _pseudo_oblique_num_poses;
uint32_t _pseudo_oblique_pose_counter;
float _pseudo_oblique_roll_angle;
float _pseudo_oblique_angle_interval;
float _pseudo_oblique_pitch_angle;
bool _updated_roll_angle;
uint32_t _CAMPOS_num_poses;
uint32_t _CAMPOS_pose_counter;
float _CAMPOS_roll_angle;
float _CAMPOS_angle_interval;
float _CAMPOS_pitch_angle;
bool _CAMPOS_updated_roll_angle;
uint32_t _target_system;
uint32_t _target_component;
@@ -270,12 +270,12 @@ CameraTrigger::CameraTrigger() :
_turning_on(false),
_last_shoot_position(0.0f, 0.0f),
_valid_position(false),
_pseudo_oblique_num_poses(0),
_pseudo_oblique_pose_counter(0),
_pseudo_oblique_roll_angle(0.0f),
_pseudo_oblique_angle_interval(0.0f),
_pseudo_oblique_pitch_angle(-90),
_updated_roll_angle(false),
_CAMPOS_num_poses(0),
_CAMPOS_pose_counter(0),
_CAMPOS_roll_angle(0.0f),
_CAMPOS_angle_interval(0.0f),
_CAMPOS_pitch_angle(-90),
_CAMPOS_updated_roll_angle(false),
_target_system(0),
_target_component(0),
_trigger_pub(nullptr),
@@ -410,15 +410,15 @@ CameraTrigger::update_distance()
hrt_abstime now = hrt_absolute_time();
if (!_updated_roll_angle && _pseudo_oblique_num_poses > 0 && (now - _last_trigger_timestamp > _min_interval * 1000)) {
if (!_CAMPOS_updated_roll_angle && _CAMPOS_num_poses > 0 && (now - _last_trigger_timestamp > _min_interval * 1000)) {
adjust_roll();
_updated_roll_angle = true;
_CAMPOS_updated_roll_angle = true;
}
// Check that distance threshold is exceeded
if (matrix::Vector2f(_last_shoot_position - current_position).length() >= _distance) {
shoot_once();
_updated_roll_angle = false;
_CAMPOS_updated_roll_angle = false;
_last_shoot_position = current_position;
}
}
@@ -705,22 +705,22 @@ CameraTrigger::Run()
}
if (cmd.param4 >= 2.0f) {
_pseudo_oblique_num_poses = commandParamToInt(cmd.param4);
_CAMPOS_num_poses = commandParamToInt(cmd.param4);
if (cmd.param5 > 0.0) {
_pseudo_oblique_roll_angle = cmd.param5;
_CAMPOS_roll_angle = cmd.param5;
} else {
_pseudo_oblique_roll_angle = 30.0f;
_CAMPOS_roll_angle = 30.0f;
}
_pseudo_oblique_pitch_angle = cmd.param6;
_pseudo_oblique_angle_interval = _pseudo_oblique_roll_angle * 2 / (_pseudo_oblique_num_poses - 1);
_pseudo_oblique_pose_counter = 0;
_updated_roll_angle = false;
_CAMPOS_pitch_angle = cmd.param6;
_CAMPOS_angle_interval = _CAMPOS_roll_angle * 2 / (_CAMPOS_num_poses - 1);
_CAMPOS_pose_counter = 0;
_CAMPOS_updated_roll_angle = false;
} else {
_pseudo_oblique_num_poses = 0;
_CAMPOS_num_poses = 0;
}
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
@@ -1005,14 +1005,14 @@ CameraTrigger::adjust_roll()
vcmd.target_component = _target_component;
//param1 of VEHICLE_CMD_DO_MOUNT_CONTROL in VEHICLE_MOUNT_MODE_MAVLINK_TARGETING mode is pitch
vcmd.param1 = _pseudo_oblique_pitch_angle;
vcmd.param1 = _CAMPOS_pitch_angle;
//param2 of VEHICLE_CMD_DO_MOUNT_CONTROL in VEHICLE_MOUNT_MODE_MAVLINK_TARGETING mode is roll
if (++_pseudo_oblique_pose_counter == _pseudo_oblique_num_poses) {
_pseudo_oblique_pose_counter = 0;
if (++_CAMPOS_pose_counter == _CAMPOS_num_poses) {
_CAMPOS_pose_counter = 0;
}
vcmd.param2 = _pseudo_oblique_angle_interval * _pseudo_oblique_pose_counter - _pseudo_oblique_roll_angle;
vcmd.param2 = _CAMPOS_angle_interval * _CAMPOS_pose_counter - _CAMPOS_roll_angle;
vcmd.param7 = vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING;