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replace geo _wrap_pi with matrix::wrap_pi

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This commit is contained in:
Daniel Agar
2018-06-12 09:00:52 +02:00
committed by Lorenz Meier
parent 518daa4a8d
commit d0bde9ab2a
14 changed files with 60 additions and 313 deletions
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src/modules/navigator/mission_block.cpp
+4 -1
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@@ -54,6 +54,8 @@
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vtol_vehicle_status.h>
using matrix::wrap_pi;
MissionBlock::MissionBlock(Navigator *navigator) :
NavigatorMode(navigator)
{
@@ -326,7 +328,8 @@ MissionBlock::is_mission_item_reached()
float cog = _navigator->get_vstatus()->is_rotary_wing ? _navigator->get_global_position()->yaw : atan2f(
_navigator->get_global_position()->vel_e,
_navigator->get_global_position()->vel_n);
float yaw_err = _wrap_pi(_mission_item.yaw - cog);
float yaw_err = wrap_pi(_mission_item.yaw - cog);
/* accept yaw if reached or if timeout is set in which case we ignore not forced headings */
if (fabsf(yaw_err) < math::radians(_navigator->get_yaw_threshold())