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Navigator: rename get_loiter_radius to get_default_loiter_rad

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Signed-off-by: Silvan <silvan@auterion.com>
This commit is contained in:
Silvan
2025-07-28 10:57:56 +02:00
committed by Silvan Fuhrer
parent 972acf0203
commit 431f507d29
8 changed files with 25 additions and 25 deletions
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src/modules/navigator/navigator_main.cpp
+9 -9
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@@ -368,7 +368,7 @@ void Navigator::run()
} else {
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_radius = get_default_loiter_rad();
}
if (PX4_ISFINITE(curr->current.loiter_minor_radius) && fabsf(curr->current.loiter_minor_radius) > FLT_EPSILON) {
@@ -471,7 +471,7 @@ void Navigator::run()
rep->current.loiter_radius = curr->current.loiter_radius;
} else {
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_radius = get_default_loiter_rad();
}
rep->current.loiter_direction_counter_clockwise = curr->current.loiter_direction_counter_clockwise;
@@ -509,7 +509,7 @@ void Navigator::run()
if (geofence_allows_position(position_setpoint)) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_radius = get_default_loiter_rad();
rep->current.loiter_direction_counter_clockwise = false;
rep->current.loiter_orientation = 0.0f;
rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_ORBIT;
@@ -557,8 +557,8 @@ void Navigator::run()
if (geofence_allows_position(position_setpoint)) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_minor_radius = fabsf(get_loiter_radius());
rep->current.loiter_direction_counter_clockwise = get_loiter_radius() < 0;
rep->current.loiter_minor_radius = fabsf(get_default_loiter_rad());
rep->current.loiter_direction_counter_clockwise = get_default_loiter_rad() < 0;
rep->current.loiter_orientation = 0.0f;
rep->current.loiter_pattern = position_setpoint_s::LOITER_TYPE_FIGUREEIGHT;
rep->current.cruising_speed = get_cruising_speed();
@@ -604,7 +604,7 @@ void Navigator::run()
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_radius = get_default_loiter_rad();
rep->current.loiter_direction_counter_clockwise = false;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
rep->current.cruising_speed = -1.f; // reset to default
@@ -941,7 +941,7 @@ void Navigator::geofence_breach_check()
vertical_test_point_distance = _gf_breach_avoidance.computeVerticalBrakingDistanceMultirotor();
} else {
test_point_distance = 2.0f * get_loiter_radius();
test_point_distance = 2.0f * get_default_loiter_rad();
vertical_test_point_distance = 5.0f;
if (hrt_absolute_time() - pos_ctrl_status.timestamp < 100000 && PX4_ISFINITE(pos_ctrl_status.nav_bearing)) {
@@ -1056,7 +1056,7 @@ void Navigator::geofence_breach_check()
rep->current.lon = loiter_longitude;
rep->current.alt = loiter_altitude_amsl;
rep->current.valid = true;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_radius = get_default_loiter_rad();
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius();
@@ -1173,7 +1173,7 @@ void Navigator::reset_position_setpoint(position_setpoint_s &sp)
sp.lat = static_cast<double>(NAN);
sp.lon = static_cast<double>(NAN);
sp.yaw = NAN;
sp.loiter_radius = get_loiter_radius();
sp.loiter_radius = get_default_loiter_rad();
sp.acceptance_radius = get_default_acceptance_radius();
sp.cruising_speed = get_cruising_speed();
sp.cruising_throttle = get_cruising_throttle();