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vehicle_local_position: rename yaw -> heading and add reset logic

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- vehicle_global_position yaw removed (redundant)
This commit is contained in:
Daniel Agar
2020-08-10 11:42:03 +02:00
committed by Mathieu Bresciani
parent 33fb9d0c62
commit 97fc1db768
24 changed files with 75 additions and 86 deletions
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src/modules/navigator/follow_target.cpp
+2 -2
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@@ -196,7 +196,7 @@ void FollowTarget::on_active()
_current_target_motion.lat,
_current_target_motion.lon);
_yaw_rate = wrap_pi((_yaw_angle - _navigator->get_global_position()->yaw) / (dt_ms / 1000.0f));
_yaw_rate = wrap_pi((_yaw_angle - _navigator->get_local_position()->heading) / (dt_ms / 1000.0f));
} else {
_yaw_angle = _yaw_rate = NAN;
@@ -229,7 +229,7 @@ void FollowTarget::on_active()
// 3 degrees of facing target
if (PX4_ISFINITE(_yaw_rate)) {
if (fabsf(fabsf(_yaw_angle) - fabsf(_navigator->get_local_position()->yaw)) < math::radians(3.0F)) {
if (fabsf(fabsf(_yaw_angle) - fabsf(_navigator->get_local_position()->heading)) < math::radians(3.0F)) {
_yaw_rate = NAN;
}
}