Copter: move time_to_impact to local float

bnsgeyer · Jan 27, 2024 · b2fe6a3 · b2fe6a3
1 parent b61eee3
commit b2fe6a3
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -1938,7 +1938,6 @@ class ModeAutorotate : public Mode {
 	bool hover_autorotation;
 	bool initial_energy_check;
 	float last_tti;
-	float time_to_impact;
 
     enum class Autorotation_Phase {
         ENTRY,

diff --git a/ArduCopter/mode_autorotate.cpp b/ArduCopter/mode_autorotate.cpp
@@ -91,7 +91,7 @@ void ModeAutorotate::run()
 
     float alt = g2.arot.get_ground_distance();
     // have autorotation library update estimated radar altitude
-    g2.arot.update_est_radar_alt();
+    g2.arot.update_est_rangefinder_alt();
     if (alt < copter.rangefinder.max_distance_cm_orient(ROTATION_PITCH_270)) {
         g2.arot._using_rfnd = true;
     } else {
@@ -101,6 +101,7 @@ void ModeAutorotate::run()
     // Initialise internal variables
     float curr_vel_z = inertial_nav.get_velocity_z_up_cms();   // Current vertical descent
     //calculate time to impact
+    float time_to_impact;
     if (phase_switch != Autorotation_Phase::TOUCH_DOWN) {
         g2.arot.time_to_ground();
         time_to_impact = g2.arot.get_time_to_ground();