Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-27 02:04:00 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_WPNav: rename stop to brake

Browse Source
This commit is contained in:
Randy Mackay 2015-05-17 12:22:00 +09:00
parent 542e5fb54c
commit 0077cac1b7
2 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -309,8 +309,8 @@ void AC_WPNav::update_loiter(float ekfGndSpdLimit, float ekfNavVelGainScaler)
} }
} }
/// init_stop_target - initializes stop position from current position and velocity /// init_brake_target - initializes stop position from current position and velocity
void AC_WPNav::init_stop_target(float accel_cmss) void AC_WPNav::init_brake_target(float accel_cmss)
{ {
const Vector3f& curr_vel = _inav.get_velocity(); const Vector3f& curr_vel = _inav.get_velocity();
Vector3f stopping_point; Vector3f stopping_point;
@ -329,8 +329,8 @@ void AC_WPNav::init_stop_target(float accel_cmss)
init_loiter_target(stopping_point); init_loiter_target(stopping_point);
} }
// update_stop - run the stop controller - gets called at 400hz // update_brake - run the stop controller - gets called at 400hz
void AC_WPNav::update_stop(float ekfGndSpdLimit, float ekfNavVelGainScaler) void AC_WPNav::update_brake(float ekfGndSpdLimit, float ekfNavVelGainScaler)
{ {
// calculate dt // calculate dt
float dt = _pos_control.time_since_last_xy_update(); float dt = _pos_control.time_since_last_xy_update();

10
libraries/AC_WPNav/AC_WPNav.h
View File

@ -95,13 +95,13 @@ public:
void update_loiter(float ekfGndSpdLimit, float ekfNavVelGainScaler); void update_loiter(float ekfGndSpdLimit, float ekfNavVelGainScaler);
/// ///
/// stop controller /// brake controller
/// ///
/// init_stop_target - initialize's loiter position and feed-forward velocity from current pos and velocity /// init_brake_target - initialize's position and feed-forward velocity from current pos and velocity
void init_stop_target(float accel_cmss); void init_brake_target(float accel_cmss);
/// ///
/// update_stop - run the stop controller - should be called at 400hz /// update_brake - run the brake controller - should be called at 400hz
void update_stop(float ekfGndSpdLimit, float ekfNavVelGainScaler); void update_brake(float ekfGndSpdLimit, float ekfNavVelGainScaler);
/// ///
/// waypoint controller /// waypoint controller