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Parameter update - Rename variables in modules/navigator

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using parameter_update.py script
This commit is contained in:
bresch
2019-03-25 14:24:25 +01:00
committed by Matthias Grob
parent e575f032e4
commit f3990c84fc
18 changed files with 116 additions and 116 deletions
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14
src/modules/navigator/rtl.cpp
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@@ -74,7 +74,7 @@ RTL::on_activation()
} else if ((rtl_type() == RTL_LAND) && _navigator->on_mission_landing()) {
// RTL straight to RETURN state, but mission will takeover for landing.
} else if ((_navigator->get_global_position()->alt < _navigator->get_home_position()->alt + _param_return_alt.get())
} else if ((_navigator->get_global_position()->alt < _navigator->get_home_position()->alt + _param_rtl_return_alt.get())
|| _rtl_alt_min) {
// If lower than return altitude, climb up first.
@@ -134,15 +134,15 @@ RTL::set_rtl_item()
const float home_dist = get_distance_to_next_waypoint(home.lat, home.lon, gpos.lat, gpos.lon);
// Compute the return altitude.
float return_alt = math::max(home.alt + _param_return_alt.get(), gpos.alt);
float return_alt = math::max(home.alt + _param_rtl_return_alt.get(), gpos.alt);
// We are close to home, limit climb to min.
if (home_dist < _param_rtl_min_dist.get()) {
return_alt = home.alt + _param_descend_alt.get();
return_alt = home.alt + _param_rtl_descend_alt.get();
}
// Compute the loiter altitude.
const float loiter_altitude = math::min(home.alt + _param_descend_alt.get(), gpos.alt);
const float loiter_altitude = math::min(home.alt + _param_rtl_descend_alt.get(), gpos.alt);
switch (_rtl_state) {
case RTL_STATE_CLIMB: {
@@ -229,7 +229,7 @@ RTL::set_rtl_item()
}
case RTL_STATE_LOITER: {
const bool autoland = (_param_land_delay.get() > FLT_EPSILON);
const bool autoland = (_param_rtl_land_delay.get() > FLT_EPSILON);
// Don't change altitude.
_mission_item.lat = home.lat;
@@ -239,7 +239,7 @@ RTL::set_rtl_item()
_mission_item.yaw = home.yaw;
_mission_item.loiter_radius = _navigator->get_loiter_radius();
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = math::max(_param_land_delay.get(), 0.0f);
_mission_item.time_inside = math::max(_param_rtl_land_delay.get(), 0.0f);
_mission_item.autocontinue = autoland;
_mission_item.origin = ORIGIN_ONBOARD;
@@ -324,7 +324,7 @@ RTL::advance_rtl()
case RTL_STATE_DESCEND:
// Only go to land if autoland is enabled.
if (_param_land_delay.get() < -DELAY_SIGMA || _param_land_delay.get() > DELAY_SIGMA) {
if (_param_rtl_land_delay.get() < -DELAY_SIGMA || _param_rtl_land_delay.get() > DELAY_SIGMA) {
_rtl_state = RTL_STATE_LOITER;
} else {