Rename variables for clarity

rosplane/include/estimator_base.h

@@ -92,25 +92,25 @@ class estimator_base
   ros::NodeHandle nh_;
   ros::NodeHandle nh_private_;
   ros::Publisher vehicle_state_pub_;
-  ros::Subscriber nav_sat_fix_sub_;
-  ros::Subscriber twist_stamped_sub_; //used in conjunction with the nav_sat_fix_sub_
+  ros::Subscriber gnss_fix_sub_;
+  ros::Subscriber gnss_vel_sub_; //used in conjunction with the gnss_fix_sub_
   ros::Subscriber imu_sub_;
   ros::Subscriber baro_sub_;
   ros::Subscriber airspeed_sub_;
   ros::Subscriber status_sub_;
 
   void update(const ros::TimerEvent &);
-  void navSatFixCallback(const sensor_msgs::NavSatFix &msg);
-  void twistStampedCallback(const geometry_msgs::TwistStamped &msg);
+  void gnssFixCallback(const sensor_msgs::NavSatFix &msg);
+  void gnssVelCallback(const geometry_msgs::TwistStamped &msg);
   void imuCallback(const sensor_msgs::Imu &msg);
   void baroAltCallback(const rosflight_msgs::Barometer &msg);
   void airspeedCallback(const rosflight_msgs::Airspeed &msg);
   void statusCallback(const rosflight_msgs::Status &msg);
 
   double update_rate_;
   ros::Timer update_timer_;
-  std::string gps_topic_;
-  std::string vel_topic_;
+  std::string gnss_fix_topic_;
+  std::string gnss_vel_topic_;
   std::string imu_topic_;
   std::string baro_topic_;
   std::string airspeed_topic_;

rosplane/src/estimator_base.cpp

@@ -9,8 +9,8 @@ estimator_base::estimator_base():
   nh_(ros::NodeHandle()),
   nh_private_(ros::NodeHandle("~"))
 {
-  nh_private_.param<std::string>("gps_topic", gps_topic_, "navsat_compat/fix");
-  nh_private_.param<std::string>("vel_topic", vel_topic_, "navsat_compat/vel");
+  nh_private_.param<std::string>("gps_topic", gnss_fix_topic_, "navsat_compat/fix");
+  nh_private_.param<std::string>("vel_topic", gnss_vel_topic_, "navsat_compat/vel");
   nh_private_.param<std::string>("imu_topic", imu_topic_, "imu/data");
   nh_private_.param<std::string>("baro_topic", baro_topic_, "baro");
   nh_private_.param<std::string>("airspeed_topic", airspeed_topic_, "airspeed");
@@ -25,8 +25,8 @@ estimator_base::estimator_base():
   nh_private_.param<double>("sigma_Vg_gps", params_.sigma_Vg_gps, 0.0500);
   nh_private_.param<double>("sigma_couse_gps", params_.sigma_course_gps, 0.0045);
 
-  nav_sat_fix_sub_ = nh_.subscribe(gps_topic_, 10, &estimator_base::navSatFixCallback, this);
-  twist_stamped_sub_ = nh_.subscribe(vel_topic_, 10, &estimator_base::twistStampedCallback, this);
+  gnss_fix_sub_ = nh_.subscribe(gnss_fix_topic_, 10, &estimator_base::gnssFixCallback, this);
+  gnss_vel_sub_ = nh_.subscribe(gnss_vel_topic_, 10, &estimator_base::gnssVelCallback, this);
   imu_sub_ = nh_.subscribe(imu_topic_, 10, &estimator_base::imuCallback, this);
   baro_sub_ = nh_.subscribe(baro_topic_, 10, &estimator_base::baroAltCallback, this);
   airspeed_sub_ = nh_.subscribe(airspeed_topic_, 10, &estimator_base::airspeedCallback, this);
@@ -95,7 +95,7 @@ void estimator_base::update(const ros::TimerEvent &)
   vehicle_state_pub_.publish(msg);
 }
 
-void estimator_base::navSatFixCallback(const sensor_msgs::NavSatFix &msg)
+void estimator_base::gnssFixCallback(const sensor_msgs::NavSatFix &msg)
 {
   bool has_fix = msg.status.status >= sensor_msgs::NavSatStatus::STATUS_FIX; // Higher values refer to augmented fixes
   if (!has_fix || !std::isfinite(msg.latitude))
@@ -118,13 +118,13 @@ void estimator_base::navSatFixCallback(const sensor_msgs::NavSatFix &msg)
     input_.gps_new = true;
   }
 }
-void estimator_base::twistStampedCallback(const geometry_msgs::TwistStamped &msg)
+void estimator_base::gnssVelCallback(const geometry_msgs::TwistStamped &msg)
 {
   double v_n = msg.twist.linear.x;
   double v_e = msg.twist.linear.y;
   double v_d = msg.twist.linear.z;
   double ground_speed = sqrt(v_n * v_n + v_e * v_e);
-  double course = atan2(v_e, v_n); //TODO check this math. Also, degrees or radians. From North, right? What range?
+  double course = atan2(v_e, v_n); //Does this need to be in a specific range? All uses seem to accept anything.
   input_.gps_Vg = ground_speed;
   if(ground_speed > 0.3) //this is a magic number. What is it determined from?
     input_.gps_course = course;