From c5dfcbc50ec33692aefe7fd9648f13116819bbb8 Mon Sep 17 00:00:00 2001 From: Martina Rivizzigno Date: Fri, 22 Mar 2019 14:53:19 +0100 Subject: [PATCH] cosmetics changes to ObstacleAvoidance library --- src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp | 4 ++-- .../FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp | 2 +- .../tasks/AutoMapper2/FlightTaskAutoMapper2.cpp | 2 +- src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp | 2 +- src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp | 8 ++++---- 5 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp index 0089f36212..104cdb2a55 100644 --- a/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp +++ b/src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp @@ -45,7 +45,7 @@ #include #include #include -#include "ObstacleAvoidance.hpp" +#include /** * 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) _param_mpc_xy_cruise, diff --git a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp index d6cb634d00..5120332427 100644 --- a/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp +++ b/src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp @@ -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 diff --git a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp index 2e96948931..6ed7065cbb 100644 --- a/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp +++ b/src/lib/FlightTasks/tasks/AutoMapper2/FlightTaskAutoMapper2.cpp @@ -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(); diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp index a2d42801ee..e7fdca0184 100644 --- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp +++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp @@ -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) { diff --git a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp index 722459c834..fc9e08c2ce 100644 --- a/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp +++ b/src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp @@ -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