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mc_pos_control: use same notation for velocity waypoints

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Martina 2018-04-06 08:47:50 +02:00 committed by Daniel Agar
parent 6e7f1d249e
commit 3fa094cb6b
1 changed files with 4 additions and 4 deletions
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8
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -412,7 +412,7 @@ private:
void set_idle_state();
/**
* trajctory generation
* trajectory generation
*/
void execute_avoidance_position_waypoint();
@ -422,7 +422,7 @@ private:
bool use_pos_wp_avoidance();
bool use_vel_wp_avoidance();
bool use_avoidance_velocity_waypoint();
void update_avoidance_waypoints_desired(const int point_number, const float x, const float y, const float z,
const float vx, const float vy, const float vz, const float ax, const float ay, const float az, const float yaw,
@ -2547,7 +2547,7 @@ MulticopterPositionControl::calculate_velocity_setpoint()
_vel_sp_desired = matrix::Vector3f(_vel_sp(0), _vel_sp(1), _vel_sp(2));
/* check obstacle avoidance */
if (use_vel_wp_avoidance() && !_in_smooth_takeoff) {
if (use_avoidance_velocity_waypoint() && !_in_smooth_takeoff) {
execute_avoidance_velocity_waypoint();
@ -3514,7 +3514,7 @@ MulticopterPositionControl::use_pos_wp_avoidance()
}
bool
MulticopterPositionControl::use_vel_wp_avoidance()
MulticopterPositionControl::use_avoidance_velocity_waypoint()
{
return use_obstacle_avoidance() && PX4_ISFINITE(_traj_wp_avoidance.point_0[trajectory_waypoint_s::VX]) &&
PX4_ISFINITE(_traj_wp_avoidance.point_0[trajectory_waypoint_s::VY])