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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
2024-02-12 15:58:06 +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/rtl.cpp
+8 -8
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@@ -297,7 +297,7 @@ void RTL::setRtlTypeAndDestination()
if (_param_rtl_type.get() != 2) {
// check the closest allowed destination.
DestinationType destination_type{DestinationType::DESTINATION_TYPE_HOME};
DestinationPosition rtl_position;
PositionYawSetpoint rtl_position;
float rtl_alt;
findRtlDestination(destination_type, rtl_position, rtl_alt);
@@ -333,7 +333,7 @@ void RTL::setRtlTypeAndDestination()
}
}
void RTL::findRtlDestination(DestinationType &destination_type, DestinationPosition &rtl_position, float &rtl_alt)
void RTL::findRtlDestination(DestinationType &destination_type, PositionYawSetpoint &rtl_position, float &rtl_alt)
{
// set destination to home per default, then check if other valid landing spot is closer
rtl_position.alt = _home_pos_sub.get().alt;
@@ -413,7 +413,7 @@ void RTL::findRtlDestination(DestinationType &destination_type, DestinationPosit
if (mission_safe_point.nav_cmd == NAV_CMD_RALLY_POINT && dist_to_home > MAX_DIST_FROM_HOME_FOR_LAND_APPROACHES) {
float dist{get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, mission_safe_point.lat, mission_safe_point.lon)};
DestinationPosition safepoint_position;
PositionYawSetpoint safepoint_position;
setSafepointAsDestination(safepoint_position, mission_safe_point);
if (((dist + MIN_DIST_THRESHOLD) < min_dist) && (!vtol_in_fw_mode || (_param_rtl_approach_force.get() == 0)
@@ -435,7 +435,7 @@ void RTL::findRtlDestination(DestinationType &destination_type, DestinationPosit
}
}
void RTL::setLandPosAsDestination(DestinationPosition &rtl_position, mission_item_s &land_mission_item) const
void RTL::setLandPosAsDestination(PositionYawSetpoint &rtl_position, mission_item_s &land_mission_item) const
{
rtl_position.alt = land_mission_item.altitude_is_relative ? land_mission_item.altitude +
_home_pos_sub.get().alt : land_mission_item.altitude;
@@ -444,7 +444,7 @@ void RTL::setLandPosAsDestination(DestinationPosition &rtl_position, mission_ite
rtl_position.yaw = _home_pos_sub.get().yaw;
}
void RTL::setSafepointAsDestination(DestinationPosition &rtl_position,
void RTL::setSafepointAsDestination(PositionYawSetpoint &rtl_position,
const mission_item_s &mission_safe_point) const
{
// There is a safe point closer than home/mission landing
@@ -472,7 +472,7 @@ void RTL::setSafepointAsDestination(DestinationPosition &rtl_position,
}
}
float RTL::calculate_return_alt_from_cone_half_angle(const DestinationPosition &rtl_position,
float RTL::calculate_return_alt_from_cone_half_angle(const PositionYawSetpoint &rtl_position,
float cone_half_angle_deg) const
{
// horizontal distance to destination
@@ -576,7 +576,7 @@ bool RTL::hasMissionLandStart() const
return _mission_sub.get().land_start_index > 0;
}
bool RTL::hasVtolLandApproach(const DestinationPosition &rtl_position) const
bool RTL::hasVtolLandApproach(const PositionYawSetpoint &rtl_position) const
{
return readVtolLandApproaches(rtl_position).isAnyApproachValid();
}
@@ -611,7 +611,7 @@ loiter_point_s RTL::chooseBestLandingApproach(const land_approaches_s &vtol_land
}
}
land_approaches_s RTL::readVtolLandApproaches(DestinationPosition rtl_position) const
land_approaches_s RTL::readVtolLandApproaches(PositionYawSetpoint rtl_position) const
{
// go through all mission items in the rally point storage. If we find a mission item of type NAV_CMD_RALLY_POINT