fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-08 22:10:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

replace camel case by snake case.

Browse Source 
Co-Authored-By: EliaTarasov <elias.tarasov@gmail.com>
This commit is contained in:
Matthias Grob
2019-03-08 18:12:58 +03:00
committed by Roman Bapst
parent 84d9820baa
commit aa36fa2dfd
3 changed files with 22 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/land_detector/MulticopterLandDetector.cpp
+4 -4
View File
@@ -179,8 +179,8 @@ bool MulticopterLandDetector::_get_ground_contact_state()
}
// Check if we are moving horizontally.
_horizontalMovement = sqrtf(_vehicleLocalPosition.vx * _vehicleLocalPosition.vx
+ _vehicleLocalPosition.vy * _vehicleLocalPosition.vy) > _params.maxVelocity;
_horizontal_movement = sqrtf(_vehicleLocalPosition.vx * _vehicleLocalPosition.vx
+ _vehicleLocalPosition.vy * _vehicleLocalPosition.vy) > _params.maxVelocity;
// if we have a valid velocity setpoint and the vehicle is demanded to go down but no vertical movement present,
// we then can assume that the vehicle hit ground
@@ -189,7 +189,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
bool hit_ground = _in_descend && !verticalMovement;
// TODO: we need an accelerometer based check for vertical movement for flying without GPS
if ((_has_low_thrust() || hit_ground) && (!_horizontalMovement || !_has_position_lock())
if ((_has_low_thrust() || hit_ground) && (!_horizontal_movement || !_has_position_lock())
&& (!verticalMovement || !_has_altitude_lock())) {
return true;
}
@@ -336,7 +336,7 @@ bool MulticopterLandDetector::_has_minimal_thrust()
bool MulticopterLandDetector::_get_ground_effect_state()
{
if (_in_descend && !_horizontalMovement) {
if (_in_descend && !_horizontal_movement) {
return true;
} else {