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mc_pos_control: use same notation for velocity waypoints

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This commit is contained in:
Martina
2018-07-12 16:36:11 -04:00
committed by Daniel Agar
parent 6e7f1d249e
commit 3fa094cb6b
1 changed files with 4 additions and 4 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -4
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@@ -412,7 +412,7 @@ private:
void set_idle_state(); void set_idle_state();
/** /**
* trajctory generation * trajectory generation
*/ */
void execute_avoidance_position_waypoint(); void execute_avoidance_position_waypoint();
@@ -422,7 +422,7 @@ private:
bool use_pos_wp_avoidance(); 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, 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, 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)); _vel_sp_desired = matrix::Vector3f(_vel_sp(0), _vel_sp(1), _vel_sp(2));
/* check obstacle avoidance */ /* check obstacle avoidance */
if (use_vel_wp_avoidance() && !_in_smooth_takeoff) { if (use_avoidance_velocity_waypoint() && !_in_smooth_takeoff) {
execute_avoidance_velocity_waypoint(); execute_avoidance_velocity_waypoint();
@@ -3514,7 +3514,7 @@ MulticopterPositionControl::use_pos_wp_avoidance()
} }
bool 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]) && 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]) PX4_ISFINITE(_traj_wp_avoidance.point_0[trajectory_waypoint_s::VY])