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Remove pos_sp_triplet

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This commit is contained in:
JaeyoungLim
2026-03-14 17:05:45 -07:00
parent a6a21bec45
commit 5cc60834d2
2 changed files with 3 additions and 5 deletions
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src/modules/fw_guidance_control/FixedWingGuidanceControl.cpp
+2 -3
View File
@@ -213,8 +213,7 @@ FixedWingGuidanceControl::update_in_air_states(const hrt_abstime now)
void void
FixedWingGuidanceControl::control_auto_path(const float control_interval, FixedWingGuidanceControl::control_auto_path(const float control_interval,
const Vector2f &ground_speed, const float cruising_speed, const Vector2f curr_wp_local, const float curr_wp_alt, const Vector2f &ground_speed, const float cruising_speed, const Vector2f curr_wp_local, const float curr_wp_alt,
const Vector2f velocity_2d, bool gliding_enabled, const Vector2f velocity_2d, bool gliding_enabled)
const position_setpoint_s &pos_sp_curr)
{ {
const float target_airspeed = cruising_speed > FLT_EPSILON ? cruising_speed : NAN; const float target_airspeed = cruising_speed > FLT_EPSILON ? cruising_speed : NAN;
@@ -427,7 +426,7 @@ FixedWingGuidanceControl::Run()
const matrix::Vector2f velocity_2d(_pos_sp_triplet.current.vx, _pos_sp_triplet.current.vy); const matrix::Vector2f velocity_2d(_pos_sp_triplet.current.vx, _pos_sp_triplet.current.vy);
control_auto_path(control_interval, ground_speed, _pos_sp_triplet.current.cruising_speed, curr_wp_local, _pos_sp_triplet.current.alt, control_auto_path(control_interval, ground_speed, _pos_sp_triplet.current.cruising_speed, curr_wp_local, _pos_sp_triplet.current.alt,
velocity_2d, velocity_2d,
_pos_sp_triplet.current.gliding_enabled, _pos_sp_triplet.current); _pos_sp_triplet.current.gliding_enabled);
_ctrl_configuration_handler.update(now); _ctrl_configuration_handler.update(now);
src/modules/fw_guidance_control/FixedWingGuidanceControl.hpp
+1 -2
View File
@@ -336,8 +336,7 @@ private:
* @param pos_sp_curr current position setpoint * @param pos_sp_curr current position setpoint
*/ */
void control_auto_path(const float control_interval, const Vector2f &ground_speed, void control_auto_path(const float control_interval, const Vector2f &ground_speed,
const float cruising_speed, const Vector2f curr_wp_local, const float curr_wp_alt, const Vector2f velocity_2d, bool gliding_enabled, const float cruising_speed, const Vector2f curr_wp_local, const float curr_wp_alt, const Vector2f velocity_2d, bool gliding_enabled);
const position_setpoint_s &pos_sp_curr);
void publishLocalPositionSetpoint(const position_setpoint_s &current_waypoint); void publishLocalPositionSetpoint(const position_setpoint_s &current_waypoint);