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AP_AHRS: clarify frame of get_location_from_origin_offset #27259

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merged 2 commits into from
Jun 11, 2024
Merged

AP_AHRS: clarify frame of get_location_from_origin_offset #27259

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84e78f5
AP_AHRS: clarify frame of get_location_from_origin_offset
peterbarker Jun 6, 2024
77fa5d7
ArduCopter: clarify frame of get_location_from_origin_offset
peterbarker Jun 6, 2024
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2 changes: 1 addition & 1 deletion ArduCopter/mode_circle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ bool ModeCircle::init(bool ignore_checks)
if (copter.circle_nav->roi_at_center()) {
const Vector3p &pos { copter.circle_nav->get_center() };
Location circle_center;
if (!AP::ahrs().get_location_from_origin_offset(circle_center, pos * 0.01)) {
if (!AP::ahrs().get_location_from_origin_offset_NED(circle_center, pos * 0.01)) {
return false;
}
// point at the ground:
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4 changes: 2 additions & 2 deletions libraries/AP_AHRS/AP_AHRS.cpp
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Expand Up @@ -3536,7 +3536,7 @@ bool AP_AHRS::get_velocity_NED(Vector3f &vec) const

// return location corresponding to vector relative to the
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The existing comment seems wrong.

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Or at least confusing.

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Suggestions for less-confusing words welcome :-)

// vehicle's origin
bool AP_AHRS::get_location_from_origin_offset(Location &loc, const Vector3p &offset_ned) const
bool AP_AHRS::get_location_from_origin_offset_NED(Location &loc, const Vector3p &offset_ned) const
{
if (!get_origin(loc)) {
return false;
Expand All @@ -3548,7 +3548,7 @@ bool AP_AHRS::get_location_from_origin_offset(Location &loc, const Vector3p &off

// return location corresponding to vector relative to the
// vehicle's home location
bool AP_AHRS::get_location_from_home_offset(Location &loc, const Vector3p &offset_ned) const
bool AP_AHRS::get_location_from_home_offset_NED(Location &loc, const Vector3p &offset_ned) const
{
if (!home_is_set()) {
return false;
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4 changes: 2 additions & 2 deletions libraries/AP_AHRS/AP_AHRS.h
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Expand Up @@ -277,8 +277,8 @@ class AP_AHRS {

// return location corresponding to vector relative to the
// vehicle's origin
bool get_location_from_origin_offset(Location &loc, const Vector3p &offset_ned) const WARN_IF_UNUSED;
bool get_location_from_home_offset(Location &loc, const Vector3p &offset_ned) const WARN_IF_UNUSED;
bool get_location_from_origin_offset_NED(Location &loc, const Vector3p &offset_ned) const WARN_IF_UNUSED;
bool get_location_from_home_offset_NED(Location &loc, const Vector3p &offset_ned) const WARN_IF_UNUSED;

// Get a derivative of the vertical position in m/s which is kinematically consistent with the vertical position is required by some control loops.
// This is different to the vertical velocity from the EKF which is not always consistent with the vertical position due to the various errors that are being corrected for.
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