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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/navigator_main.cpp
+4 -4
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@@ -262,7 +262,7 @@ Navigator::run()
position_setpoint_triplet_s *curr = get_position_setpoint_triplet();
// store current position as previous position and goal as next
rep->previous.yaw = get_global_position()->yaw;
rep->previous.yaw = get_local_position()->heading;
rep->previous.lat = get_global_position()->lat;
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;
@@ -345,7 +345,7 @@ Navigator::run()
position_setpoint_triplet_s *rep = get_takeoff_triplet();
// store current position as previous position and goal as next
rep->previous.yaw = get_local_position()->yaw;
rep->previous.yaw = get_local_position()->heading;
rep->previous.lat = get_global_position()->lat;
rep->previous.lon = get_global_position()->lon;
rep->previous.alt = get_global_position()->alt;
@@ -361,7 +361,7 @@ Navigator::run()
rep->previous.timestamp = hrt_absolute_time();
} else {
rep->current.yaw = get_local_position()->yaw;
rep->current.yaw = get_local_position()->heading;
rep->previous.valid = false;
}
@@ -505,7 +505,7 @@ Navigator::run()
&& get_vstatus()->nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) {
position_setpoint_triplet_s *rep = get_reposition_triplet();
rep->current.yaw = get_global_position()->yaw;
rep->current.yaw = get_local_position()->heading;
rep->current.lat = get_global_position()->lat;
rep->current.lon = get_global_position()->lon;
rep->current.alt = get_global_position()->alt;