AP_Proximity: rename get_distances to get_horizontal_distances

Also fix existing bug in return
Yukong · Apr 20, 2017 · 3ad5c37 · 3ad5c37
1 parent 09e3d6b
commit 3ad5c37
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Showing 4 changed files with 21 additions and 21 deletions.
diff --git a/libraries/AP_Proximity/AP_Proximity.cpp b/libraries/AP_Proximity/AP_Proximity.cpp
@@ -323,6 +323,16 @@ bool AP_Proximity::get_horizontal_distance(float angle_deg, float &distance) con
     return get_horizontal_distance(primary_instance, angle_deg, distance);
 }
 
+// get distances in 8 directions. used for sending distances to ground station
+bool AP_Proximity::get_horizontal_distances(Proximity_Distance_Array &prx_dist_array) const
+{
+    if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
+        return false;
+    }
+    // get distances from backend
+    return drivers[primary_instance]->get_horizontal_distances(prx_dist_array);
+}
+
 // get boundary points around vehicle for use by avoidance
 //   returns nullptr and sets num_points to zero if no boundary can be returned
 const Vector2f* AP_Proximity::get_boundary_points(uint8_t instance, uint16_t& num_points) const
@@ -372,16 +382,6 @@ bool AP_Proximity::get_object_angle_and_distance(uint8_t object_number, float& a
     return drivers[primary_instance]->get_object_angle_and_distance(object_number, angle_deg, distance);
 }
 
-// get distances in 8 directions. used for sending distances to ground station
-bool AP_Proximity::get_distances(Proximity_Distance_Array &prx_dist_array) const
-{
-    if ((drivers[primary_instance] == nullptr) || (_type[primary_instance] == Proximity_Type_None)) {
-        return 0.0f;
-    }
-    // get distances from backend
-    return drivers[primary_instance]->get_distances(prx_dist_array);
-}
-
 // get maximum and minimum distances (in meters) of primary sensor
 float AP_Proximity::distance_max() const
 {

diff --git a/libraries/AP_Proximity/AP_Proximity.h b/libraries/AP_Proximity/AP_Proximity.h
@@ -50,6 +50,12 @@ class AP_Proximity
         Proximity_Good
     };
 
+    // structure holding distances in 8 directions. used for sending distances to ground station
+    struct Proximity_Distance_Array {
+        uint8_t orientation[8]; // orientation (i.e. rough direction) of the distance (see MAV_SENSOR_ORIENTATION)
+        float distance[8];      // distance in meters
+    };
+
     // detect and initialise any available proximity sensors
     void init(void);
 
@@ -78,6 +84,9 @@ class AP_Proximity
     bool get_horizontal_distance(uint8_t instance, float angle_deg, float &distance) const;
     bool get_horizontal_distance(float angle_deg, float &distance) const;
 
+    // get distances in 8 directions. used for sending distances to ground station
+    bool get_horizontal_distances(Proximity_Distance_Array &prx_dist_array) const;
+
     // get boundary points around vehicle for use by avoidance
     //   returns nullptr and sets num_points to zero if no boundary can be returned
     const Vector2f* get_boundary_points(uint8_t instance, uint16_t& num_points) const;
@@ -91,15 +100,6 @@ class AP_Proximity
     uint8_t get_object_count() const;
     bool get_object_angle_and_distance(uint8_t object_number, float& angle_deg, float &distance) const;
 
-    // structure holding distances in 8 directions
-    struct Proximity_Distance_Array {
-        uint8_t orientation[8]; // orientation (i.e. rough direction) of the distance (see MAV_SENSOR_ORIENTATION)
-        float distance[8];      // distance in meters
-    };
-
-    // get distances in 8 directions. used for sending distances to ground station
-    bool get_distances(Proximity_Distance_Array &prx_dist_array) const;
-
     // get maximum and minimum distances (in meters) of primary sensor
     float distance_max() const;
     float distance_min() const;

diff --git a/libraries/AP_Proximity/AP_Proximity_Backend.cpp b/libraries/AP_Proximity/AP_Proximity_Backend.cpp
@@ -86,7 +86,7 @@ bool AP_Proximity_Backend::get_object_angle_and_distance(uint8_t object_number,
 }
 
 // get distances in 8 directions. used for sending distances to ground station
-bool AP_Proximity_Backend::get_distances(AP_Proximity::Proximity_Distance_Array &prx_dist_array) const
+bool AP_Proximity_Backend::get_horizontal_distances(AP_Proximity::Proximity_Distance_Array &prx_dist_array) const
 {
     // exit immediately if we have no good ranges
     bool valid_distances = false;

diff --git a/libraries/AP_Proximity/AP_Proximity_Backend.h b/libraries/AP_Proximity/AP_Proximity_Backend.h
@@ -62,7 +62,7 @@ class AP_Proximity_Backend
     bool get_object_angle_and_distance(uint8_t object_number, float& angle_deg, float &distance) const;
 
     // get distances in 8 directions. used for sending distances to ground station
-    bool get_distances(AP_Proximity::Proximity_Distance_Array &prx_dist_array) const;
+    bool get_horizontal_distances(AP_Proximity::Proximity_Distance_Array &prx_dist_array) const;
 
 protected: