From 017e71a748f1b33422c9d5417b9d3ae20e60623c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 20 Nov 2017 22:02:22 +0900
Subject: [PATCH] Plane: quadplane velocity pi moves to position control
 library

---
 ArduPlane/quadplane.cpp | 28 ++--------------------------
 ArduPlane/quadplane.h   |  1 -
 ArduPlane/tuning.cpp    |  4 ++--
 3 files changed, 4 insertions(+), 29 deletions(-)

diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 31f9461aad..4e0ddc764b 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -45,29 +45,6 @@ const AP_Param::GroupInfo QuadPlane::var_info[] = {
     // @User: Standard
     AP_SUBGROUPINFO(p_pos_xy,   "PXY_", 13, QuadPlane, AC_P),
 
-    // @Param: VXY_P
-    // @DisplayName: Velocity (horizontal) P gain
-    // @Description: Velocity (horizontal) P gain.  Converts the difference between desired velocity to a target acceleration
-    // @Range: 0.1 6.0
-    // @Increment: 0.1
-    // @User: Advanced
-
-    // @Param: VXY_I
-    // @DisplayName: Velocity (horizontal) I gain
-    // @Description: Velocity (horizontal) I gain.  Corrects long-term difference in desired velocity to a target acceleration
-    // @Range: 0.02 1.00
-    // @Increment: 0.01
-    // @User: Advanced
-
-    // @Param: VXY_IMAX
-    // @DisplayName: Velocity (horizontal) integrator maximum
-    // @Description: Velocity (horizontal) integrator maximum.  Constrains the target acceleration that the I gain will output
-    // @Range: 0 4500
-    // @Increment: 10
-    // @Units: cm/s/s
-    // @User: Advanced
-    AP_SUBGROUPINFO(pi_vel_xy, "VXY_",  14, QuadPlane, AC_PI_2D),
-
     // @Param: VZ_P
     // @DisplayName: Velocity (vertical) P gain
     // @Description: Velocity (vertical) P gain.  Converts the difference between desired vertical speed and actual speed into a desired acceleration that is passed to the throttle acceleration controller
@@ -595,8 +572,7 @@ bool QuadPlane::setup(void)
     }
     AP_Param::load_object_from_eeprom(attitude_control, attitude_control->var_info);
     pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control,
-                                    p_alt_hold, p_vel_z, pid_accel_z,
-                                    p_pos_xy, pi_vel_xy);
+                                    p_alt_hold, p_vel_z, pid_accel_z, p_pos_xy);
     if (!pos_control) {
         hal.console->printf("%s pos_control\n", strUnableToAllocate);
         goto failed;
@@ -2168,7 +2144,7 @@ bool QuadPlane::do_vtol_land(const AP_Mission::Mission_Command& cmd)
     attitude_control->get_rate_pitch_pid().reset_I();
     attitude_control->get_rate_yaw_pid().reset_I();
     pid_accel_z.reset_I();
-    pi_vel_xy.reset_I();
+    pos_control->get_vel_xy_pid().reset_I();
     
     plane.set_next_WP(cmd.content.location);
     // initially aim for current altitude
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index ed5825d116..a54bd31d69 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -135,7 +135,6 @@ private:
     AC_P                    p_alt_hold{1};
     AC_P                    p_vel_z{5};
     AC_PID                  pid_accel_z{0.3, 1, 0, 800, 10, 0.02};
-    AC_PI_2D                pi_vel_xy{0.7, 0.35, 1000, 5, 0.02};
 
     AP_Int8 frame_class;
     AP_Int8 frame_type;
diff --git a/ArduPlane/tuning.cpp b/ArduPlane/tuning.cpp
index 1058d7e18a..03c473628b 100644
--- a/ArduPlane/tuning.cpp
+++ b/ArduPlane/tuning.cpp
@@ -149,10 +149,10 @@ AP_Float *AP_Tuning_Plane::get_param_pointer(uint8_t parm)
         return &plane.quadplane.p_alt_hold.kP();
 
     case TUNING_VXY_P:
-        return &plane.quadplane.pi_vel_xy.kP();
+        return &plane.quadplane.pos_control->get_vel_xy_pid().kP();
 
     case TUNING_VXY_I:
-        return &plane.quadplane.pi_vel_xy.kI();
+        return &plane.quadplane.pos_control->get_vel_xy_pid().kI();
 
     case TUNING_VZ_P:
         return &plane.quadplane.p_vel_z.kP();