SITL: fix var naming for precland device center

libraries/SITL/SIM_Aircraft.cpp

@@ -989,7 +989,7 @@ void Aircraft::update_external_payload(const struct sitl_input &input)
     if (precland && precland->is_enabled()) {
         precland->update(get_location(), get_position_relhome());
         if (precland->_over_precland_base) {
-            local_ground_level += precland->_origin_height;
+            local_ground_level += precland->_device_height;
         }
     }
 

libraries/SITL/SIM_Precland.cpp

@@ -32,31 +32,31 @@ const AP_Param::GroupInfo SIM_Precland::var_info[] = {
     AP_GROUPINFO("ENABLE",  0, SIM_Precland, _enable, 0),
 
     // @Param: LAT
-    // @DisplayName: Precland device origin's latitude
-    // @Description: Precland device origin's latitude
+    // @DisplayName: Precland device center's latitude
+    // @Description: Precland device center's latitude
     // @Units: deg
     // @Increment: 0.000001
     // @Range: -90 90
     // @User: Advanced
-    AP_GROUPINFO("LAT", 1, SIM_Precland, _origin_lat, 0),
+    AP_GROUPINFO("LAT", 1, SIM_Precland, _device_lat, 0),
 
     // @Param: LON
-    // @DisplayName: Precland device origin's longitude
-    // @Description: Precland device origin's longitude
+    // @DisplayName: Precland device center's longitude
+    // @Description: Precland device center's longitude
     // @Units: deg
     // @Increment: 0.000001
     // @Range: -180 180
     // @User: Advanced
-    AP_GROUPINFO("LON", 2, SIM_Precland, _origin_lon, 0),
+    AP_GROUPINFO("LON", 2, SIM_Precland, _device_lon, 0),
 
     // @Param: HEIGHT
-    // @DisplayName: Precland device origin's height above sealevel
-    // @Description: Precland device origin's height above sealevel assume a 2x2m square as station base
+    // @DisplayName: Precland device center's height above sealevel
+    // @Description: Precland device center's height above sealevel assume a 2x2m square as station base
     // @Units: cm
     // @Increment: 1
     // @Range: 0 10000
     // @User: Advanced
-    AP_GROUPINFO("HEIGHT", 3, SIM_Precland, _origin_height, 0),
+    AP_GROUPINFO("HEIGHT", 3, SIM_Precland, _device_height, 0),
 
     // @Param: YAW
     // @DisplayName: Precland device systems rotation from north
@@ -119,36 +119,36 @@ void SIM_Precland::update(const Location &loc, const Vector3d &position)
         return;
     }
 
-    const Location origin_center(static_cast<int32_t>(_origin_lat * 1.0e7f),
-            static_cast<int32_t>(_origin_lon * 1.0e7f),
-            static_cast<int32_t>(_origin_height),
+    const Location device_center(static_cast<int32_t>(_device_lat * 1.0e7f),
+            static_cast<int32_t>(_device_lon * 1.0e7f),
+            static_cast<int32_t>(_device_height),
             Location::AltFrame::ABOVE_HOME);
     Vector2f centerf;
-    if (!origin_center.get_vector_xy_from_origin_NE(centerf)) {
+    if (!device_center.get_vector_xy_from_origin_NE(centerf)) {
         _healthy = false;
         return;
     }
     centerf = centerf * 0.01f;        // cm to m
-    Vector3d center(centerf.x, centerf.y, -_origin_height);   // convert to make the further vector operations easy
+    Vector3d center(centerf.x, centerf.y, -_device_height);   // convert to make the further vector operations easy
 
     // axis of cone or cylinder inside which the vehicle receives signals from simulated precland device
     Vector3d axis{1, 0, 0};
     axis.rotate((Rotation)_orient.get());   // unit vector in direction of axis of cone or cylinder
-    Vector3d position_wrt_origin = position - center;  // position of vehicle with respect to preland device origin
+    Vector3d position_wrt_device = position - center;  // position of vehicle with respect to preland device center
     
     // longitudinal distance of vehicle from the precland device
-    // this is the distance of vehicle from the plane which is passing through precland device origin and perpendicular to axis of cone/cylinder
+    // this is the distance of vehicle from the plane which is passing through precland device center and perpendicular to axis of cone/cylinder
     // this plane is the ground plane when the axis has PITCH_90 rotation
-    Vector3d projection_on_axis = position_wrt_origin.projected(axis);
+    Vector3d projection_on_axis = position_wrt_device.projected(axis);
     const float longitudinal_dist = projection_on_axis.length();
 
     // lateral distance of vehicle from the precland device
     // this is the perpendicular distance of vehicle from the axis of cone/cylinder
-    const float lateral_distance = safe_sqrt(MAX(0, position_wrt_origin.length_squared() - longitudinal_dist*longitudinal_dist));
+    const float lateral_distance = safe_sqrt(MAX(0, position_wrt_device.length_squared() - longitudinal_dist*longitudinal_dist));
 
     // sign of projection's dot product with axis tells if vehicle is in front of beacon
     // return false if vehicle if vehicle is  longitudinally too far away from precland device
-    // for PITCH_90 orientation, longitudinal distance = alt of vehicle - origin_height (in m)
+    // for PITCH_90 orientation, longitudinal distance = alt of vehicle - device_height (in m)
     if (projection_on_axis.dot(axis) <= 0 || longitudinal_dist > _alt_limit) {
         _healthy = false;
         return;
@@ -172,7 +172,7 @@ void SIM_Precland::update(const Location &loc, const Vector3d &position)
             break;
         }
         case PRECLAND_TYPE_SPHERE: {
-            if (position_wrt_origin.length() > _dist_limit) {
+            if (position_wrt_device.length() > _dist_limit) {
                 _healthy = false;
                 return;
             }
@@ -187,14 +187,14 @@ void SIM_Precland::update(const Location &loc, const Vector3d &position)
             break;
         }
     }
-    _target_pos = position_wrt_origin;
+    _target_pos = position_wrt_device;
     _healthy = true;
 }
 
 void SIM_Precland::set_default_location(float lat, float lon, int16_t yaw) {
-    if (is_zero(_origin_lat) && is_zero(_origin_lon)) {
-        _origin_lat.set(lat);
-        _origin_lon.set(lon);
+    if (is_zero(_device_lat) && is_zero(_device_lon)) {
+        _device_lat.set(lat);
+        _device_lon.set(lon);
         _orient_yaw.set(yaw);
     }
 }

libraries/SITL/SIM_Precland.h

@@ -42,9 +42,9 @@ public:
     static const struct AP_Param::GroupInfo var_info[];
 
     AP_Int8 _enable;
-    AP_Float _origin_lat;
-    AP_Float _origin_lon;
-    AP_Float _origin_height;
+    AP_Float _device_lat;
+    AP_Float _device_lon;
+    AP_Float _device_height;
     AP_Int16 _orient_yaw;
     AP_Int8 _type;
     AP_Int32 _rate;