fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 15:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

change naming from tiltOffset to pitchOffset

Browse Source
This commit is contained in:
Kamil Ritz
2020-04-04 12:48:52 +02:00
committed by Mathieu Bresciani
parent 572ad2df0a
commit d6b6276cdc
5 changed files with 12 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/sensor_range_finder.hpp
+8 -8
View File
@@ -67,12 +67,12 @@ public:
// TODO: move the ring buffer here
rangeSample* getSampleAddress() { return &_sample; }
void setTiltOffset(float new_tilt_offset)
void setPitchOffset(float new_pitch_offset)
{
if (fabsf(_tilt_offset_rad - new_tilt_offset) > FLT_EPSILON) {
_sin_tilt_rng = sinf(new_tilt_offset);
_cos_tilt_rng = cosf(new_tilt_offset);
_tilt_offset_rad = new_tilt_offset;
if (fabsf(_pitch_offset_rad - new_pitch_offset) > FLT_EPSILON) {
_sin_pitch_offset = sinf(new_pitch_offset);
_cos_pitch_offset = cosf(new_pitch_offset);
_pitch_offset_rad = new_pitch_offset;
}
}
@@ -132,9 +132,9 @@ private:
*/
float _cos_tilt_rng_to_earth{}; ///< 2,2 element of the rotation matrix from sensor frame to earth frame
float _range_cos_max_tilt{0.7071f}; ///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data
float _tilt_offset_rad{3.14f}; ///< range finder tilt rotation about the Y body axis
float _sin_tilt_rng{0.0f}; ///< sine of the range finder tilt rotation about the Y body axis
float _cos_tilt_rng{-1.0f}; ///< cosine of the range finder tilt rotation about the Y body axis
float _pitch_offset_rad{3.14f}; ///< range finder tilt rotation about the Y body axis
float _sin_pitch_offset{0.0f}; ///< sine of the range finder tilt rotation about the Y body axis
float _cos_pitch_offset{-1.0f}; ///< cosine of the range finder tilt rotation about the Y body axis
/*
* Range check