From f3adf6d67fa04c6826ebee9d4b802b8b911735dd Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 26 May 2020 16:46:40 +0200 Subject: [PATCH] mission_block: rename altitude_amsl to mission_item_altitude_amsl to make clear it's a setpoint Signed-off-by: Silvan Fuhrer --- src/modules/navigator/mission_block.cpp | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 5bc5ca9146..accac076e5 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -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(); }