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FlightTaskAuto: add comments and fix variable naming convention

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Martina
2018-07-26 15:53:01 +02:00
committed by ChristophTobler
parent e13ca0d990
commit 3fe2646d80
2 changed files with 8 additions and 9 deletions
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src/lib/FlightTasks/tasks/FlightTaskAuto.cpp
+3 -3
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@@ -201,11 +201,10 @@ bool FlightTaskAuto::_evaluateTriplets()
}
// Calculate the current vehicle state and check if it has updated.
State _previous_state = _current_state;
State previous_state = _current_state;
_current_state = _getCurrentState();
bool state_update = (_current_state != _previous_state) ? true : false;
if (triplet_update || state_update) {
if (triplet_update || (_current_state != previous_state)) {
_updateInternalWaypoints();
}
@@ -276,6 +275,7 @@ State FlightTaskAuto::_getCurrentState()
Vector2f u_prev_to_target = Vector2f(&(_triplet_target - _triplet_prev_wp)(0)).unit_or_zero();
Vector2f pos_to_target = Vector2f(&(_triplet_target - _position)(0));
Vector2f prev_to_pos = Vector2f(&(_position - _triplet_prev_wp)(0));
// Calculate the closest point to the vehicle position on the line prev_wp - target
_closest_pt = Vector2f(&_triplet_prev_wp(0)) + u_prev_to_target * (prev_to_pos * u_prev_to_target);
State return_state = State::none;