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fw_pos_ctrl_l1 var naming consistency and effc++

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This commit is contained in:
Daniel Agar
2016-07-12 23:40:39 +02:00
committed by Lorenz Meier
parent ebce725720
commit de14418e93
14 changed files with 256 additions and 171 deletions
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src/modules/fw_pos_control_l1/landingslope.cpp
+14 -1
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@@ -46,6 +46,19 @@
#include <unistd.h>
#include <mathlib/mathlib.h>
Landingslope::Landingslope() :
_landing_slope_angle_rad(0.0f),
_flare_relative_alt(0.0f),
_motor_lim_relative_alt(0.0f),
_H1_virt(0.0f),
_H0(0.0f),
_d1(0.0f),
_flare_constant(0.0f),
_flare_length(0.0f),
_horizontal_slope_displacement(0.0f)
{
}
void Landingslope::update(float landing_slope_angle_rad_new,
float flare_relative_alt_new,
float motor_lim_relative_alt_new,
@@ -69,7 +82,7 @@ void Landingslope::calculateSlopeValues()
_horizontal_slope_displacement = (_flare_length - _d1);
}
float Landingslope::getLandingSlopeRelativeAltitude(float wp_landing_distance)
float Landingslope::getLandingSlopeRelativeAltitude(float wp_landing_distance)
{
return Landingslope::getLandingSlopeRelativeAltitude(wp_landing_distance, _horizontal_slope_displacement,
_landing_slope_angle_rad);