From b7f729e43213297296a413789fa237618626cec2 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Fri, 9 Mar 2018 08:18:36 +0100 Subject: [PATCH] FlightTask: split _evalutateVehiclePosition into _evaluateVehicleLocalPosition and _evaluateVehicleGlobalPosition --- src/lib/FlightTasks/tasks/FlightTask.cpp | 4 ++-- src/lib/FlightTasks/tasks/FlightTask.hpp | 2 +- src/lib/FlightTasks/tasks/FlightTaskAuto.cpp | 4 ++-- src/lib/FlightTasks/tasks/FlightTaskAuto.hpp | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/src/lib/FlightTasks/tasks/FlightTask.cpp b/src/lib/FlightTasks/tasks/FlightTask.cpp index 413772a19b..7a11a7d79d 100644 --- a/src/lib/FlightTasks/tasks/FlightTask.cpp +++ b/src/lib/FlightTasks/tasks/FlightTask.cpp @@ -28,7 +28,7 @@ bool FlightTask::updateInitialize() _time = (_time_stamp_current - _time_stamp_activate) / 1e6f; _deltatime = math::min((_time_stamp_current - _time_stamp_last), _timeout) / 1e6f; _time_stamp_last = _time_stamp_current; - return _evaluateVehiclePosition(); + return _evaluateVehicleLocalPosition(); } const vehicle_local_position_setpoint_s FlightTask::getPositionSetpoint() @@ -54,7 +54,7 @@ void FlightTask::_resetSetpoints() _yaw_setpoint = _yawspeed_setpoint = NAN; } -bool FlightTask::_evaluateVehiclePosition() +bool FlightTask::_evaluateVehicleLocalPosition() { if ((_time_stamp_current - _sub_vehicle_local_position->get().timestamp) < _timeout) { _position = matrix::Vector3f(&_sub_vehicle_local_position->get().x); diff --git a/src/lib/FlightTasks/tasks/FlightTask.hpp b/src/lib/FlightTasks/tasks/FlightTask.hpp index ff2203ae71..2142ec0907 100644 --- a/src/lib/FlightTasks/tasks/FlightTask.hpp +++ b/src/lib/FlightTasks/tasks/FlightTask.hpp @@ -139,5 +139,5 @@ protected: */ uORB::Subscription *_sub_vehicle_local_position{nullptr}; - virtual bool _evaluateVehiclePosition(); + bool _evaluateVehicleLocalPosition(); }; diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp index a006f3d7f4..ff5ba51670 100644 --- a/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp +++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.cpp @@ -174,9 +174,9 @@ bool FlightTaskAuto::_isFinite(const position_setpoint_s sp) return (PX4_ISFINITE(sp.lat) && PX4_ISFINITE(sp.lon) && PX4_ISFINITE(sp.alt)); } -bool FlightTaskAuto::_evaluateVehiclePosition() +bool FlightTaskAuto::_evaluateVehicleGlobalPosition() { - FlightTask::_evaluateVehiclePosition(); + FlightTask::_evaluateVehicleLocalPosition(); /* Check if reference has changed and update. */ if (_sub_vehicle_local_position->get().ref_timestamp != _time_stamp_reference) { diff --git a/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp index 3f540cfcf7..15594e655b 100644 --- a/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp +++ b/src/lib/FlightTasks/tasks/FlightTaskAuto.hpp @@ -91,5 +91,5 @@ private: bool _isFinite(const position_setpoint_s sp); void _updateReference(); - bool _evaluateVehiclePosition() override; /**< Required for reference update */ + bool _evaluateVehicleGlobalPosition(); /**< Required for reference update */ };