rename updateAvoidanceWaypoints->updateAvoidanceDesiredWaypoints and

updateAvoidanceSetpoints->updateAvoidanceDesiredSetpoints

src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp

@@ -243,10 +243,11 @@ bool FlightTaskAuto::_evaluateTriplets()
 	}
 
 	if (_param_com_obs_avoid.get() && _sub_vehicle_status->get().is_rotary_wing) {
-		_obstacle_avoidance.updateAvoidanceWaypoints(_triplet_target, _yaw_setpoint, _yawspeed_setpoint, _triplet_next_wp,
+		_obstacle_avoidance.updateAvoidanceDesiredWaypoints(_triplet_target, _yaw_setpoint, _yawspeed_setpoint,
+				_triplet_next_wp,
 				_sub_triplet_setpoint->get().next.yaw,
 				_sub_triplet_setpoint->get().next.yawspeed_valid ? _sub_triplet_setpoint->get().next.yawspeed : NAN);
-		_obstacle_avoidance.updateAvoidanceSetpoints(_position_setpoint, _velocity_setpoint);
+		_obstacle_avoidance.updateAvoidanceDesiredSetpoints(_position_setpoint, _velocity_setpoint);
 		_obstacle_avoidance.checkAvoidanceProgress(_position, _triplet_prev_wp, _target_acceptance_radius, _closest_pt);
 	}
 

src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp

@@ -110,7 +110,7 @@ void ObstacleAvoidance::prepareAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &ve
 	yaw_speed_sp = _sub_vehicle_trajectory_waypoint->get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].yaw_speed;
 }
 
-void ObstacleAvoidance::updateAvoidanceWaypoints(const Vector3f &curr_wp, const float curr_yaw,
+void ObstacleAvoidance::updateAvoidanceDesiredWaypoints(const Vector3f &curr_wp, const float curr_yaw,
 		const float curr_yawspeed,
 		const Vector3f &next_wp, const float next_yaw, const float next_yawspeed)
 {
@@ -135,7 +135,7 @@ void ObstacleAvoidance::updateAvoidanceWaypoints(const Vector3f &curr_wp, const
 	_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_2].point_valid = true;
 }
 
-void ObstacleAvoidance::updateAvoidanceSetpoints(const Vector3f &pos_sp, const Vector3f &vel_sp)
+void ObstacleAvoidance::updateAvoidanceDesiredSetpoints(const Vector3f &pos_sp, const Vector3f &vel_sp)
 {
 	pos_sp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_0].position);
 	vel_sp.copyTo(_desired_waypoint.waypoints[vehicle_trajectory_waypoint_s::POINT_0].velocity);

src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.hpp

@@ -81,14 +81,14 @@ public:
 	 * @param next_yaw, next yaw triplet
 	 * @param next_yawspeed, next yaw speed triplet
 	 */
-	void updateAvoidanceWaypoints(const matrix::Vector3f &curr_wp, const float curr_yaw, const float curr_yawspeed,
-				      const matrix::Vector3f &next_wp, const float next_yaw, const float next_yawspeed);
+	void updateAvoidanceDesiredWaypoints(const matrix::Vector3f &curr_wp, const float curr_yaw, const float curr_yawspeed,
+					     const matrix::Vector3f &next_wp, const float next_yaw, const float next_yawspeed);
 	/**
 	 * Updates the desired setpoints to send to the obstacle avoidance system.
 	 * @param pos_sp, desired position setpoint computed by the active FlightTask
 	 * @param vel_sp, desired velocity setpoint computed by the active FlightTask
 	 */
-	void updateAvoidanceSetpoints(const matrix::Vector3f &pos_sp, const matrix::Vector3f &vel_sp);
+	void updateAvoidanceDesiredSetpoints(const matrix::Vector3f &pos_sp, const matrix::Vector3f &vel_sp);
 
 	/**
 	 * Checks the vehicle progress between previous and current position triplet.