fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-24 08:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

navigator: refactor naming of break instead of brake functions

Browse Source
This commit is contained in:
Matthias Grob
2024-10-25 13:56:20 +02:00
committed by Silvan Fuhrer
parent b8a602414d
commit 37190d4928
6 changed files with 10 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/navigator/land.cpp
+2 -3
View File
@@ -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();
}