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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/land.cpp
+2 -3
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@@ -60,7 +60,7 @@ Land::on_activation()
if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING 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->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); 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(); 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 // 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(); _navigator->set_position_setpoint_triplet_updated();
} }
src/modules/navigator/loiter.cpp
+1 -1
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@@ -109,7 +109,7 @@ Loiter::set_loiter_position()
setLoiterItemFromCurrentPositionSetpoint(&_mission_item); setLoiterItemFromCurrentPositionSetpoint(&_mission_item);
} else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { } else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
setLoiterItemFromCurrentPositionWithBreaking(&_mission_item); setLoiterItemFromCurrentPositionWithBraking(&_mission_item);
} else { } else {
setLoiterItemFromCurrentPosition(&_mission_item); setLoiterItemFromCurrentPosition(&_mission_item);
src/modules/navigator/mission_block.cpp
+2 -2
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@@ -772,11 +772,11 @@ MissionBlock::setLoiterItemFromCurrentPosition(struct mission_item_s *item)
} }
void void
MissionBlock::setLoiterItemFromCurrentPositionWithBreaking(struct mission_item_s *item) MissionBlock::setLoiterItemFromCurrentPositionWithBraking(struct mission_item_s *item)
{ {
setLoiterItemCommonFields(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->altitude = _navigator->get_global_position()->alt;
item->loiter_radius = _navigator->get_loiter_radius(); item->loiter_radius = _navigator->get_loiter_radius();
src/modules/navigator/mission_block.h
+1 -1
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@@ -183,7 +183,7 @@ protected:
void setLoiterItemFromCurrentPositionSetpoint(struct mission_item_s *item); void setLoiterItemFromCurrentPositionSetpoint(struct mission_item_s *item);
void setLoiterItemFromCurrentPosition(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); void setLoiterItemCommonFields(struct mission_item_s *item);
src/modules/navigator/navigator.h
+1 -1
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@@ -278,7 +278,7 @@ public:
void release_gimbal_control(); void release_gimbal_control();
void set_gimbal_neutral(); 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 stop_capturing_images();
void disable_camera_trigger(); void disable_camera_trigger();
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 if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& (get_position_setpoint_triplet()->current.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) { && (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 { } else {
// For fixedwings we can use the current vehicle's position to define the loiter point // 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 if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& (get_position_setpoint_triplet()->current.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF)) { && (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) { 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; 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 // 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); const float course_over_ground = atan2f(_local_pos.vy, _local_pos.vx);