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cosmetics changes to ObstacleAvoidance library

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Martina Rivizzigno 2019-03-22 14:53:19 +01:00 committed by bresch
parent e5441a6565
commit c5dfcbc50e
5 changed files with 9 additions and 9 deletions
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4
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
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@ -45,7 +45,7 @@
#include <uORB/topics/home_position.h>
#include <uORB/topics/vehicle_status.h>
#include <lib/ecl/geo/geo.h>
#include "ObstacleAvoidance.hpp"
#include <ObstacleAvoidance.hpp>
/**
* This enum has to agree with position_setpoint_s type definition
@ -103,7 +103,7 @@ protected:
float _target_acceptance_radius = 0.0f; /**< Acceptances radius of the target */
int _mission_gear = landing_gear_s::GEAR_KEEP;
ObstacleAvoidance _obstacle_avoidance;
ObstacleAvoidance _obstacle_avoidance; /**< class adjusting setpoints according to external avoidance module's input */
DEFINE_PARAMETERS_CUSTOM_PARENT(FlightTask,
(ParamFloat<px4::params::MPC_XY_CRUISE>) _param_mpc_xy_cruise,

2
src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
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@ -86,7 +86,7 @@ bool FlightTaskAutoMapper::update()
_generateVelocitySetpoints();
}
_obstacle_avoidance.prepareAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
_yawspeed_setpoint);
// during mission and reposition, raise the landing gears but only

2
src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp
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@ -91,7 +91,7 @@ bool FlightTaskAutoMapper2::update()
break;
}
_obstacle_avoidance.prepareAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
_obstacle_avoidance.injectAvoidanceSetpoints(_position_setpoint, _velocity_setpoint, _yaw_setpoint,
_yawspeed_setpoint);
_generateSetpoints();

2
src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp
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@ -84,7 +84,7 @@ bool ObstacleAvoidance::initializeSubscriptions(SubscriptionArray &subscription_
return true;
}
void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, float &yaw_sp,
void ObstacleAvoidance::injectAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel_sp, float &yaw_sp,
float &yaw_speed_sp)
{

8
src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp
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@ -64,16 +64,16 @@ public:
bool initializeSubscriptions(SubscriptionArray &subscription_array);
/**
* Inject setpoints from obstacle avoidance system into FLightTasks.
* Inject setpoints from obstacle avoidance system into FlightTasks.
* @param pos_sp, position setpoint
* @param vel_sp, velocity setpoint
* @param yaw_sp, yaw setpoint
* @param yaw_speed_sp, yaw speed setpoint
*/
void prepareAvoidanceSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp);
void injectAvoidanceSetpoints(matrix::Vector3f &pos_sp, matrix::Vector3f &vel_sp, float &yaw_sp, float &yaw_speed_sp);
/**
* Updates the desired waypoints to send to the obstacle avoidance system.
* Updates the desired waypoints to send to the obstacle avoidance system. These messages don't have any direct impact on the flight.
* @param curr_wp, current position triplet
* @param curr_yaw, current yaw triplet
* @param curr_yawspeed, current yaw speed triplet
@ -91,7 +91,7 @@ public:
void updateAvoidanceDesiredSetpoints(const matrix::Vector3f &pos_sp, const matrix::Vector3f &vel_sp);
/**
* Checks the vehicle progress between previous and current position triplet.
* Checks the vehicle progress between previous and current position waypoint of the triplet.
* @param pos, vehicle position
* @param prev_wp, previous position triplet
* @param target_acceptance_radius, current position triplet xy acceptance radius