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Copter: minor formatting fixes

This commit is contained in:
Randy Mackay 2014-12-18 16:13:48 +09:00
parent 91bff63267
commit 05fedbf98f
3 changed files with 7 additions and 4 deletions
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4
ArduCopter/control_auto.pde
View File

@ -323,12 +323,12 @@ static void auto_land_run()
// run loiter controller // run loiter controller
wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler); wp_nav.update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);
float cmb_rate = get_land_descent_speed();
// call z-axis position controller // call z-axis position controller
float cmb_rate = get_land_descent_speed();
pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt, true); pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt, true);
pos_control.update_z_controller(); pos_control.update_z_controller();
// record desired climb rate for logging
desired_climb_rate = cmb_rate; desired_climb_rate = cmb_rate;
// roll & pitch from waypoint controller, yaw rate from pilot // roll & pitch from waypoint controller, yaw rate from pilot

6
ArduCopter/control_land.pde
View File

@ -102,7 +102,7 @@ static void land_gps_run()
// call attitude controller // call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate); attitude_control.angle_ef_roll_pitch_rate_ef_yaw(wp_nav.get_roll(), wp_nav.get_pitch(), target_yaw_rate);
//pause 4 seconds before beginning land descent // pause 4 seconds before beginning land descent
float cmb_rate; float cmb_rate;
if(land_pause && millis()-land_start_time < 4000) { if(land_pause && millis()-land_start_time < 4000) {
cmb_rate = 0; cmb_rate = 0;
@ -111,6 +111,7 @@ static void land_gps_run()
cmb_rate = get_land_descent_speed(); cmb_rate = get_land_descent_speed();
} }
// record desired climb rate for logging
desired_climb_rate = cmb_rate; desired_climb_rate = cmb_rate;
// update altitude target and call position controller // update altitude target and call position controller
@ -162,7 +163,7 @@ static void land_nogps_run()
// call attitude controller // call attitude controller
attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain()); attitude_control.angle_ef_roll_pitch_rate_ef_yaw_smooth(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
//pause 4 seconds before beginning land descent // pause 4 seconds before beginning land descent
float cmb_rate; float cmb_rate;
if(land_pause && millis()-land_start_time < LAND_WITH_DELAY_MS) { if(land_pause && millis()-land_start_time < LAND_WITH_DELAY_MS) {
cmb_rate = 0; cmb_rate = 0;
@ -171,6 +172,7 @@ static void land_nogps_run()
cmb_rate = get_land_descent_speed(); cmb_rate = get_land_descent_speed();
} }
// record desired climb rate for logging
desired_climb_rate = cmb_rate; desired_climb_rate = cmb_rate;
// call position controller // call position controller

1
ArduCopter/control_rtl.pde
View File

@ -380,6 +380,7 @@ static void rtl_land_run()
pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt, true); pos_control.set_alt_target_from_climb_rate(cmb_rate, G_Dt, true);
pos_control.update_z_controller(); pos_control.update_z_controller();
// record desired climb rate for logging
desired_climb_rate = cmb_rate; desired_climb_rate = cmb_rate;
// roll & pitch from waypoint controller, yaw rate from pilot // roll & pitch from waypoint controller, yaw rate from pilot