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small code cleanup

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This commit is contained in:
Thomas Gubler
2012-11-11 17:35:55 +01:00
parent 8edf02681b
commit 60198e3a2d
3 changed files with 48 additions and 45 deletions
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apps/fixedwing_pos_control/fixedwing_pos_control_main.c
+4 -4
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@@ -169,7 +169,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
memset(&global_setpoint, 0, sizeof(global_setpoint));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
crosstrack_error_s xtrack_err;
struct crosstrack_error_s xtrack_err;
memset(&xtrack_err, 0, sizeof(xtrack_err));
/* output structs */
@@ -257,11 +257,11 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
/* calculate crosstrack error */
// Only the case of a straight line track following handled so far
xtrack_err = get_distance_to_line((double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
int distance_res = get_distance_to_line(&xtrack_err, (double)global_pos.lat / (double)1e7d, (double)global_pos.lon / (double)1e7d,
(double)start_pos.lat / (double)1e7d, (double)start_pos.lon / (double)1e7d,
(double)global_setpoint.lat / (double)1e7d, (double)global_setpoint.lon / (double)1e7d);
if(!(xtrack_err.error || xtrack_err.past_end)) {
if(!(distance_res != OK || xtrack_err.past_end)) {
float delta_psi_c = -p.xtrack_p * xtrack_err.distance; //(-) because z axis points downwards
@@ -286,7 +286,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
}
else {
if (counter % 100 == 0)
printf("error: %d, past_end %d\n", xtrack_err.error, xtrack_err.past_end);
printf("distance_res: %d, past_end %d\n", distance_res, xtrack_err.past_end);
}
}