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RTL: clean up naming of function arguments

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2024-02-13 10:34:57 +01:00
committed by Matthias Grob
parent cb03835124
commit 6957818603
7 changed files with 70 additions and 69 deletions
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src/modules/navigator/mission_block.cpp
+20 -19
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@@ -928,15 +928,15 @@ MissionBlock::initialize()
_mission_item.origin = ORIGIN_ONBOARD;
}
void MissionBlock::setLoiterToAltMissionItem(mission_item_s &item, const DestinationPosition &dest,
void MissionBlock::setLoiterToAltMissionItem(mission_item_s &item, const PositionYawSetpoint &pos_yaw_sp,
float loiter_radius) const
{
item.nav_cmd = NAV_CMD_LOITER_TO_ALT;
item.lat = dest.lat;
item.lon = dest.lon;
item.altitude = dest.alt;
item.lat = pos_yaw_sp.lat;
item.lon = pos_yaw_sp.lon;
item.altitude = pos_yaw_sp.alt;
item.altitude_is_relative = false;
item.yaw = dest.yaw;
item.yaw = pos_yaw_sp.yaw;
item.acceptance_radius = _navigator->get_acceptance_radius();
item.time_inside = 0.0f;
@@ -945,7 +945,8 @@ void MissionBlock::setLoiterToAltMissionItem(mission_item_s &item, const Destina
item.loiter_radius = loiter_radius;
}
void MissionBlock::setLoiterHoldMissionItem(mission_item_s &item, const DestinationPosition &dest, float loiter_time,
void MissionBlock::setLoiterHoldMissionItem(mission_item_s &item, const PositionYawSetpoint &pos_yaw_sp,
float loiter_time,
float loiter_radius) const
{
const bool autocontinue = (loiter_time > -FLT_EPSILON);
@@ -957,9 +958,9 @@ void MissionBlock::setLoiterHoldMissionItem(mission_item_s &item, const Destinat
item.nav_cmd = NAV_CMD_LOITER_UNLIMITED;
}
item.lat = dest.lat;
item.lon = dest.lon;
item.altitude = dest.alt;
item.lat = pos_yaw_sp.lat;
item.lon = pos_yaw_sp.lon;
item.altitude = pos_yaw_sp.alt;
item.altitude_is_relative = false;
item.yaw = NAN;
@@ -971,12 +972,12 @@ void MissionBlock::setLoiterHoldMissionItem(mission_item_s &item, const Destinat
item.loiter_radius = loiter_radius;
}
void MissionBlock::setMoveToPositionMissionItem(mission_item_s &item, const DestinationPosition &dest) const
void MissionBlock::setMoveToPositionMissionItem(mission_item_s &item, const PositionYawSetpoint &pos_yaw_sp) const
{
item.nav_cmd = NAV_CMD_WAYPOINT;
item.lat = dest.lat;
item.lon = dest.lon;
item.altitude = dest.alt;
item.lat = pos_yaw_sp.lat;
item.lon = pos_yaw_sp.lon;
item.altitude = pos_yaw_sp.alt;
item.altitude_is_relative = false;
item.autocontinue = true;
@@ -984,16 +985,16 @@ void MissionBlock::setMoveToPositionMissionItem(mission_item_s &item, const Dest
item.time_inside = 0.f;
item.origin = ORIGIN_ONBOARD;
item.yaw = dest.yaw;
item.yaw = pos_yaw_sp.yaw;
}
void MissionBlock::setLandMissionItem(mission_item_s &item, const DestinationPosition &dest) const
void MissionBlock::setLandMissionItem(mission_item_s &item, const PositionYawSetpoint &pos_yaw_sp) const
{
item.nav_cmd = NAV_CMD_LAND;
item.lat = dest.lat;
item.lon = dest.lon;
item.altitude = dest.alt;
item.yaw = dest.yaw;
item.lat = pos_yaw_sp.lat;
item.lon = pos_yaw_sp.lon;
item.altitude = pos_yaw_sp.alt;
item.yaw = pos_yaw_sp.yaw;
item.acceptance_radius = _navigator->get_acceptance_radius();
item.time_inside = 0.0f;
item.autocontinue = true;