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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/mission_block.cpp
+4 -4
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@@ -375,7 +375,7 @@ MissionBlock::is_mission_item_reached()
/* check course if defined only for rotary wing except takeoff */
float cog = (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) ?
_navigator->get_local_position()->yaw :
_navigator->get_local_position()->heading :
atan2f(
_navigator->get_local_position()->vy,
_navigator->get_local_position()->vx
@@ -690,7 +690,7 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude,
/* use current position */
item->lat = _navigator->get_global_position()->lat;
item->lon = _navigator->get_global_position()->lon;
item->yaw = _navigator->get_local_position()->yaw;
item->yaw = _navigator->get_local_position()->heading;
item->altitude = abs_altitude;
item->altitude_is_relative = false;
@@ -720,7 +720,7 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
if (at_current_location) {
item->lat = (double)NAN; //descend at current position
item->lon = (double)NAN; //descend at current position
item->yaw = _navigator->get_local_position()->yaw;
item->yaw = _navigator->get_local_position()->heading;
} else {
/* use home position */
@@ -759,7 +759,7 @@ MissionBlock::set_vtol_transition_item(struct mission_item_s *item, const uint8_
{
item->nav_cmd = NAV_CMD_DO_VTOL_TRANSITION;
item->params[0] = (float) new_mode;
item->yaw = _navigator->get_local_position()->yaw;
item->yaw = _navigator->get_local_position()->heading;
item->autocontinue = true;
}