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mission_block: rename altitude_amsl to mission_item_altitude_amsl to make clear it's a setpoint

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2020-05-26 16:46:40 +02:00
parent ab9d5498bc
commit f3adf6d67f
1 changed files with 7 additions and 7 deletions
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src/modules/navigator/mission_block.cpp
+7 -7
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@@ -141,11 +141,11 @@ MissionBlock::is_mission_item_reached()
float dist_xy = -1.0f;
float dist_z = -1.0f;
float altitude_amsl = _mission_item.altitude_is_relative
? _mission_item.altitude + _navigator->get_home_position()->alt
: _mission_item.altitude;
float mission_item_altitude_amsl = _mission_item.altitude_is_relative
? _mission_item.altitude + _navigator->get_home_position()->alt
: _mission_item.altitude;
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, altitude_amsl,
dist = get_distance_to_point_global_wgs84(_mission_item.lat, _mission_item.lon, mission_item_altitude_amsl,
_navigator->get_global_position()->lat,
_navigator->get_global_position()->lon,
_navigator->get_global_position()->alt,
@@ -171,7 +171,7 @@ MissionBlock::is_mission_item_reached()
/* require only altitude for takeoff for multicopter */
if (_navigator->get_global_position()->alt >
altitude_amsl - altitude_acceptance_radius) {
mission_item_altitude_amsl - altitude_acceptance_radius) {
_waypoint_position_reached = true;
}
@@ -218,7 +218,7 @@ MissionBlock::is_mission_item_reached()
// first check if the altitude setpoint is the mission setpoint
position_setpoint_s *curr_sp = &_navigator->get_position_setpoint_triplet()->current;
if (fabsf(curr_sp->alt - altitude_amsl) >= FLT_EPSILON) {
if (fabsf(curr_sp->alt - mission_item_altitude_amsl) >= FLT_EPSILON) {
// check if the initial loiter has been accepted
dist_xy = -1.0f;
dist_z = -1.0f;
@@ -234,7 +234,7 @@ MissionBlock::is_mission_item_reached()
&& dist_z <= _navigator->get_default_altitude_acceptance_radius()) {
// now set the loiter to the final altitude in the NAV_CMD_LOITER_TO_ALT mission item
curr_sp->alt = altitude_amsl;
curr_sp->alt = mission_item_altitude_amsl;
_navigator->set_position_setpoint_triplet_updated();
}