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FlightTask: split _evalutateVehiclePosition into _evaluateVehicleLocalPosition

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and _evaluateVehicleGlobalPosition
This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 913932ff9e
commit b7f729e432
4 changed files with 6 additions and 6 deletions
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src/lib/FlightTasks/tasks/FlightTask.cpp
+2 -2
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@@ -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);