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follow-target: name variable correctly

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This commit is contained in:
Alessandro Simovic
2021-05-05 08:37:42 +02:00
committed by Daniel Agar
parent 3702140e24
commit f1fca0939f
1 changed files with 6 additions and 6 deletions
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12
src/modules/navigator/follow_target.cpp
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@@ -97,8 +97,8 @@ void FollowTarget::on_active()
struct map_projection_reference_s target_ref;
follow_target_s target_motion_with_offset = {};
uint64_t current_time = hrt_absolute_time();
bool _radius_entered = false;
bool _radius_exited = false;
bool radius_entered = false;
bool radius_exited = false;
bool updated = false;
float dt_ms = 0;
@@ -166,8 +166,8 @@ void FollowTarget::on_active()
// give a buffer to exit/enter the radius to give the velocity controller
// a chance to catch up
_radius_exited = ((_target_position_offset + _target_distance).length() > (float) TARGET_ACCEPTANCE_RADIUS_M * 1.5f);
_radius_entered = ((_target_position_offset + _target_distance).length() < (float) TARGET_ACCEPTANCE_RADIUS_M);
radius_exited = ((_target_position_offset + _target_distance).length() > (float) TARGET_ACCEPTANCE_RADIUS_M * 1.5f);
radius_entered = ((_target_position_offset + _target_distance).length() < (float) TARGET_ACCEPTANCE_RADIUS_M);
// to keep the velocity increase/decrease smooth
// calculate how many velocity increments/decrements
@@ -240,7 +240,7 @@ void FollowTarget::on_active()
case TRACK_POSITION: {
if (_radius_entered) {
if (radius_entered) {
_follow_target_state = TRACK_VELOCITY;
} else if (target_velocity_valid()) {
@@ -259,7 +259,7 @@ void FollowTarget::on_active()
case TRACK_VELOCITY: {
if (_radius_exited) {
if (radius_exited) {
_follow_target_state = TRACK_POSITION;
} else if (target_velocity_valid()) {