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Fix typos: calcualteAndSetActiveWaypoint() and calcualteAndSetActiveWaypointToLocalPosition()

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This commit is contained in:
Michel Pastor 2018-05-25 23:23:47 +02:00
parent cde920e83a
commit b01d904aaa
1 changed files with 7 additions and 7 deletions
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14
src/main/navigation/navigation.c
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@ -174,8 +174,8 @@ static void resetHeadingController(void);
void resetGCSFlags(void); void resetGCSFlags(void);
static bool posEstimationHasGlobalReference(void); static bool posEstimationHasGlobalReference(void);
static void calcualteAndSetActiveWaypoint(const navWaypoint_t * waypoint); static void calculateAndSetActiveWaypoint(const navWaypoint_t * waypoint);
static void calcualteAndSetActiveWaypointToLocalPosition(const fpVector3_t * pos); static void calculateAndSetActiveWaypointToLocalPosition(const fpVector3_t * pos);
void calculateInitialHoldPosition(fpVector3_t * pos); void calculateInitialHoldPosition(fpVector3_t * pos);
void calculateFarAwayTarget(fpVector3_t * farAwayPos, int32_t yaw, int32_t distance); void calculateFarAwayTarget(fpVector3_t * farAwayPos, int32_t yaw, int32_t distance);
@ -1011,13 +1011,13 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION(nav
switch (posControl.waypointList[posControl.activeWaypointIndex].action) { switch (posControl.waypointList[posControl.activeWaypointIndex].action) {
case NAV_WP_ACTION_WAYPOINT: case NAV_WP_ACTION_WAYPOINT:
calcualteAndSetActiveWaypoint(&posControl.waypointList[posControl.activeWaypointIndex]); calculateAndSetActiveWaypoint(&posControl.waypointList[posControl.activeWaypointIndex]);
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_IN_PROGRESS return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_IN_PROGRESS
case NAV_WP_ACTION_RTH: case NAV_WP_ACTION_RTH:
default: default:
initializeRTHSanityChecker(&navGetCurrentActualPositionAndVelocity()->pos); initializeRTHSanityChecker(&navGetCurrentActualPositionAndVelocity()->pos);
calcualteAndSetActiveWaypointToLocalPosition(&posControl.homeWaypointAbove.pos); calculateAndSetActiveWaypointToLocalPosition(&posControl.homeWaypointAbove.pos);
return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_IN_PROGRESS return NAV_FSM_EVENT_SUCCESS; // will switch to NAV_STATE_WAYPOINT_IN_PROGRESS
}; };
} }
@ -2107,7 +2107,7 @@ static void mapWaypointToLocalPosition(fpVector3_t * localPos, const navWaypoint
geoConvertGeodeticToLocal(&posControl.gpsOrigin, &wpLLH, localPos, GEO_ALT_RELATIVE); geoConvertGeodeticToLocal(&posControl.gpsOrigin, &wpLLH, localPos, GEO_ALT_RELATIVE);
} }
static void calcualteAndSetActiveWaypointToLocalPosition(const fpVector3_t * pos) static void calculateAndSetActiveWaypointToLocalPosition(const fpVector3_t * pos)
{ {
posControl.activeWaypoint.pos = *pos; posControl.activeWaypoint.pos = *pos;
@ -2118,11 +2118,11 @@ static void calcualteAndSetActiveWaypointToLocalPosition(const fpVector3_t * pos
setDesiredPosition(&posControl.activeWaypoint.pos, posControl.activeWaypoint.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING); setDesiredPosition(&posControl.activeWaypoint.pos, posControl.activeWaypoint.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING);
} }
static void calcualteAndSetActiveWaypoint(const navWaypoint_t * waypoint) static void calculateAndSetActiveWaypoint(const navWaypoint_t * waypoint)
{ {
fpVector3_t localPos; fpVector3_t localPos;
mapWaypointToLocalPosition(&localPos, waypoint); mapWaypointToLocalPosition(&localPos, waypoint);
calcualteAndSetActiveWaypointToLocalPosition(&localPos); calculateAndSetActiveWaypointToLocalPosition(&localPos);
} }
/** /**