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navigator: refactor naming of break instead of brake functions

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This commit is contained in:
Matthias Grob 2024-10-24 20:08:38 +02:00 committed by Silvan Fuhrer
parent b8a602414d
commit 37190d4928
6 changed files with 10 additions and 11 deletions
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5
src/modules/navigator/land.cpp
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@ -60,7 +60,7 @@ Land::on_activation()
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& _navigator->get_local_position()->xy_global) { // only execute if global position is valid
_navigator->calculate_breaking_stop(_mission_item.lat, _mission_item.lon);
_navigator->preproject_stop_point(_mission_item.lat, _mission_item.lon);
}
mission_item_to_position_setpoint(_mission_item, &pos_sp_triplet->current);
@ -89,8 +89,7 @@ Land::on_active()
struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet();
// create a wp in front of the VTOL while in back-transition, based on MPC settings that will apply in MC phase afterwards
_navigator->calculate_breaking_stop(pos_sp_triplet->current.lat, pos_sp_triplet->current.lon);
_navigator->preproject_stop_point(pos_sp_triplet->current.lat, pos_sp_triplet->current.lon);
_navigator->set_position_setpoint_triplet_updated();
}

2
src/modules/navigator/loiter.cpp
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@ -109,7 +109,7 @@ Loiter::set_loiter_position()
setLoiterItemFromCurrentPositionSetpoint(&_mission_item);
} else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
setLoiterItemFromCurrentPositionWithBreaking(&_mission_item);
setLoiterItemFromCurrentPositionWithBraking(&_mission_item);
} else {
setLoiterItemFromCurrentPosition(&_mission_item);

4
src/modules/navigator/mission_block.cpp
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@ -772,11 +772,11 @@ MissionBlock::setLoiterItemFromCurrentPosition(struct mission_item_s *item)
}
void
MissionBlock::setLoiterItemFromCurrentPositionWithBreaking(struct mission_item_s *item)
MissionBlock::setLoiterItemFromCurrentPositionWithBraking(struct mission_item_s *item)
{
setLoiterItemCommonFields(item);
_navigator->calculate_breaking_stop(item->lat, item->lon);
_navigator->preproject_stop_point(item->lat, item->lon);
item->altitude = _navigator->get_global_position()->alt;
item->loiter_radius = _navigator->get_loiter_radius();

2
src/modules/navigator/mission_block.h
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@ -183,7 +183,7 @@ protected:
void setLoiterItemFromCurrentPositionSetpoint(struct mission_item_s *item);
void setLoiterItemFromCurrentPosition(struct mission_item_s *item);
void setLoiterItemFromCurrentPositionWithBreaking(struct mission_item_s *item);
void setLoiterItemFromCurrentPositionWithBraking(struct mission_item_s *item);
void setLoiterItemCommonFields(struct mission_item_s *item);

2
src/modules/navigator/navigator.h
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@ -278,7 +278,7 @@ public:
void release_gimbal_control();
void set_gimbal_neutral();
void calculate_breaking_stop(double &lat, double &lon);
void preproject_stop_point(double &lat, double &lon);
void stop_capturing_images();
void disable_camera_trigger();

6
src/modules/navigator/navigator_main.cpp
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@ -356,7 +356,7 @@ void Navigator::run()
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& (get_position_setpoint_triplet()->current.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) {
calculate_breaking_stop(rep->current.lat, rep->current.lon);
preproject_stop_point(rep->current.lat, rep->current.lon);
} else {
// For fixedwings we can use the current vehicle's position to define the loiter point
@ -467,7 +467,7 @@ void Navigator::run()
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& (get_position_setpoint_triplet()->current.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) {
calculate_breaking_stop(rep->current.lat, rep->current.lon);
preproject_stop_point(rep->current.lat, rep->current.lon);
}
if (PX4_ISFINITE(curr->current.loiter_radius) && curr->current.loiter_radius > FLT_EPSILON) {
@ -1588,7 +1588,7 @@ bool Navigator::geofence_allows_position(const vehicle_global_position_s &pos)
return true;
}
void Navigator::calculate_breaking_stop(double &lat, double &lon)
void Navigator::preproject_stop_point(double &lat, double &lon)
{
// For multirotors we need to account for the braking distance, otherwise the vehicle will overshoot and go back
const float course_over_ground = atan2f(_local_pos.vy, _local_pos.vx);