From a02c6ea46e05ddbbb76bc31d82e06cd3b7410c15 Mon Sep 17 00:00:00 2001 From: Ian Reid Date: Thu, 6 Jun 2024 13:22:33 -0600 Subject: [PATCH] Fixed abort typos. --- rosplane/src/path_manager_example.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/rosplane/src/path_manager_example.cpp b/rosplane/src/path_manager_example.cpp index 14b9979..f1a57cc 100644 --- a/rosplane/src/path_manager_example.cpp +++ b/rosplane/src/path_manager_example.cpp @@ -29,20 +29,20 @@ void path_manager_example::manage(const input_s & input, output_s & output) { // For readability, declare the parameters that will be used in the function here double R_min = params.get_double("R_min"); - double abort_altitude = params.get_double("abort_altitude"); // This is the true altitude not the down position (no need for a negative) - double abort_airspeed = params.get_double("abort_airspeed"); + double default_altitude = params.get_double("default_altitude"); // This is the true altitude not the down position (no need for a negative) + double default_airspeed = params.get_double("default_airspeed"); if (num_waypoints_ == 0) { auto now = std::chrono::system_clock::now(); if (float(std::chrono::system_clock::to_time_t(now) - std::chrono::system_clock::to_time_t(start_time)) >= 10.0) { - RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 5000, "No waypoits received, orbiting origin at " << abort_altitude << " meters."); + RCLCPP_WARN_STREAM_THROTTLE(this->get_logger(), *this->get_clock(), 5000, "No waypoits received, orbiting origin at " << default_altitude << " meters."); output.flag = false; // Indicate that the path is an orbit. - output.va_d = abort_airspeed; // Set to the abort_airspeed. - output.c[0] = 0.0f; // Direcct the center of the orbit to the origin at the abort abort_altitude. + output.va_d = default_airspeed; // Set to the default_airspeed. + output.c[0] = 0.0f; // Direcct the center of the orbit to the origin at the default default_altitude. output.c[1] = 0.0f; - output.c[2] = -abort_altitude; + output.c[2] = -default_altitude; output.rho = R_min; // Make the orbit at the minimum turn radius. output.lamda = 1; // Orbit in a clockwise manner. }