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navigator: refactor naming of break instead of brake functions

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This commit is contained in:
Matthias Grob
2024-10-25 13:56:20 +02:00
committed by Silvan Fuhrer
parent b8a602414d
commit 37190d4928
6 changed files with 10 additions and 11 deletions
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src/modules/navigator/navigator_main.cpp
+3 -3
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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);