rename colprev params

avoidance/include/avoidance/common.h

@@ -97,7 +97,7 @@ struct ModelParameters {
 
   // TODO: add estimator limitations for max speed and height
 
-  float param_mpc_col_prev_d = NAN; // Collision Prevention distance to keep from obstacle. -1 for disabled
+  float param_cp_dist = NAN; // Collision Prevention distance to keep from obstacle. -1 for disabled
   // clang-format on
   std::unique_ptr<std::mutex> param_cb_mutex;
 };

avoidance/src/avoidance_node.cpp

@@ -117,7 +117,7 @@ void AvoidanceNode::px4ParamsCallback(const mavros_msgs::Param& msg) {
   parse_param_f("MPC_XY_CRUISE", px4_.param_mpc_xy_cruise) ||
   parse_param_f("MPC_Z_VEL_MAX_DN", px4_.param_mpc_vel_max_dn) ||
   parse_param_f("MPC_Z_VEL_MAX_UP", px4_.param_mpc_z_vel_max_up) ||
-  parse_param_f("MPC_COL_PREV_D", px4_.param_mpc_col_prev_d) ||
+  parse_param_f("CP_DIST", px4_.param_cp_dist) ||
   parse_param_f("NAV_ACC_RAD", px4_.param_nav_acc_rad);
   // clang-format on
 }
@@ -137,13 +137,12 @@ void AvoidanceNode::checkPx4Parameters() {
       std::lock_guard<std::mutex> lck(*(px4_.param_cb_mutex));
       request_param("MPC_ACC_HOR", px4_.param_mpc_acc_hor);
       request_param("MPC_XY_CRUISE", px4_.param_mpc_xy_cruise);
-      request_param("MPC_COL_PREV_D", px4_.param_mpc_col_prev_d);
+      request_param("CP_DIST", px4_.param_cp_dist);
       request_param("MPC_LAND_SPEED", px4_.param_mpc_land_speed);
       request_param("MPC_JERK_MAX", px4_.param_mpc_jerk_max);
       request_param("NAV_ACC_RAD", px4_.param_nav_acc_rad);
 
-      is_param_not_initialized = !std::isfinite(px4_.param_mpc_xy_cruise) ||
-                                 !std::isfinite(px4_.param_mpc_col_prev_d) ||
+      is_param_not_initialized = !std::isfinite(px4_.param_mpc_xy_cruise) || !std::isfinite(px4_.param_cp_dist) ||
                                  !std::isfinite(px4_.param_mpc_land_speed) || !std::isfinite(px4_.param_nav_acc_rad) ||
                                  !std::isfinite(px4_.param_mpc_acc_hor) || !std::isfinite(px4_.param_mpc_jerk_max);
     }
@@ -188,7 +187,7 @@ ModelParameters AvoidanceNode::getPX4Parameters() const {
   px4.param_mpc_tko_speed = px4_.param_mpc_tko_speed;
   px4.param_mpc_land_speed = px4_.param_mpc_land_speed;
   px4.param_nav_acc_rad = px4_.param_nav_acc_rad;
-  px4.param_mpc_col_prev_d = px4_.param_mpc_col_prev_d;
+  px4.param_cp_dist = px4_.param_cp_dist;
   return px4;
 }
 }

local_planner/src/nodes/local_planner.cpp

@@ -118,7 +118,7 @@ void LocalPlanner::determineStrategy() {
   cost_image_data_.clear();
   cost_image_data_.resize(3 * GRID_LENGTH_E * GRID_LENGTH_Z, 0);
 
-  create2DObstacleRepresentation(px4_.param_mpc_col_prev_d > 0.f);
+  create2DObstacleRepresentation(px4_.param_cp_dist > 0.f);
 
   // calculate the vehicle projected position on the line between the previous and current goal
   Eigen::Vector2f u_prev_to_goal = (goal_ - prev_goal_).head<2>().normalized();
@@ -198,7 +198,7 @@ void LocalPlanner::setDefaultPx4Parameters() {
   px4_.param_mpc_xy_cruise = 3.f;
   px4_.param_mpc_tko_speed = 1.f;
   px4_.param_mpc_land_speed = 0.7f;
-  px4_.param_mpc_col_prev_d = 4.f;
+  px4_.param_cp_dist = 4.f;
 }
 
 void LocalPlanner::getTree(std::vector<TreeNode>& tree, std::vector<int>& closed_set,

local_planner/src/nodes/local_planner_nodelet.cpp

@@ -455,7 +455,7 @@ void LocalPlannerNodelet::dynamicReconfigureCallback(avoidance::LocalPlannerNode
 
 void LocalPlannerNodelet::publishLaserScan() const {
   // inverted logic to make sure values like NAN default to sending the message
-  if (!(local_planner_->px4_.param_mpc_col_prev_d < 0)) {
+  if (!(local_planner_->px4_.param_cp_dist < 0)) {
     sensor_msgs::LaserScan distance_data_to_fcu;
     local_planner_->getObstacleDistanceData(distance_data_to_fcu);