From 52eb49ba0bd1ea5a05845350f1b3c46f0b059a39 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Fri, 27 Jun 2014 11:09:49 +0200 Subject: navigator: use common "acceptance radius" parameter for all modes --- src/modules/navigator/rtl.cpp | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) (limited to 'src/modules/navigator/rtl.cpp') diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index b7961a260..af2ff308c 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -61,8 +61,7 @@ RTL::RTL(Navigator *navigator, const char *name) : _rtl_state(RTL_STATE_NONE), _param_return_alt(this, "RETURN_ALT"), _param_descend_alt(this, "DESCEND_ALT"), - _param_land_delay(this, "LAND_DELAY"), - _param_acceptance_radius(this, "ACCEPT_RAD") + _param_land_delay(this, "LAND_DELAY") { /* load initial params */ updateParams(); @@ -147,7 +146,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item.acceptance_radius = _param_acceptance_radius.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = 0.0f; _mission_item.pitch_min = 0.0f; _mission_item.autocontinue = true; @@ -178,7 +177,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; _mission_item.nav_cmd = NAV_CMD_WAYPOINT; - _mission_item.acceptance_radius = _param_acceptance_radius.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = 0.0f; _mission_item.pitch_min = 0.0f; _mission_item.autocontinue = true; @@ -198,7 +197,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; _mission_item.nav_cmd = NAV_CMD_LOITER_TIME_LIMIT; - _mission_item.acceptance_radius = _param_acceptance_radius.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = 0.0f; _mission_item.pitch_min = 0.0f; _mission_item.autocontinue = false; @@ -220,7 +219,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; _mission_item.nav_cmd = autoland ? NAV_CMD_LOITER_TIME_LIMIT : NAV_CMD_LOITER_UNLIMITED; - _mission_item.acceptance_radius = _param_acceptance_radius.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = _param_land_delay.get() < 0.0f ? 0.0f : _param_land_delay.get(); _mission_item.pitch_min = 0.0f; _mission_item.autocontinue = autoland; @@ -246,7 +245,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; _mission_item.nav_cmd = NAV_CMD_LAND; - _mission_item.acceptance_radius = _param_acceptance_radius.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = 0.0f; _mission_item.pitch_min = 0.0f; _mission_item.autocontinue = true; @@ -265,7 +264,7 @@ RTL::set_rtl_item(position_setpoint_triplet_s *pos_sp_triplet) _mission_item.loiter_radius = _navigator->get_loiter_radius(); _mission_item.loiter_direction = 1; _mission_item.nav_cmd = NAV_CMD_IDLE; - _mission_item.acceptance_radius = _param_acceptance_radius.get(); + _mission_item.acceptance_radius = _navigator->get_acceptance_radius(); _mission_item.time_inside = 0.0f; _mission_item.pitch_min = 0.0f; _mission_item.autocontinue = true; -- cgit v1.2.3