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AC_PosControl: move freeze_ff_z to be with other z-axis methods 

Also minor comment fix to get_stopping_point_xy
This commit is contained in:
Randy Mackay 2020-02-28 15:41:54 +09:00
parent 90883624bc
commit 06b62107c7
1 changed files with 3 additions and 4 deletions
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7
libraries/AC_AttitudeControl/AC_PosControl.h
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@ -154,6 +154,9 @@ public:
float get_leash_down_z() const { return _leash_down_z; }
float get_leash_up_z() const { return _leash_up_z; }
/// freeze_ff_z - used to stop the feed forward being calculated during a known discontinuity
void freeze_ff_z() { _flags.freeze_ff_z = true; }
///
/// xy position controller
///
@ -230,9 +233,6 @@ public:
// overrides the velocity process variable for one timestep
void override_vehicle_velocity_xy(const Vector2f& vel_xy) { _vehicle_horiz_vel = vel_xy; _flags.vehicle_horiz_vel_override = true; }
/// freeze_ff_z - used to stop the feed forward being calculated during a known discontinuity
void freeze_ff_z() { _flags.freeze_ff_z = true; }
// relax velocity controller by clearing velocity error and setting velocity target to current velocity
void relax_velocity_controller_xy();
@ -247,7 +247,6 @@ public:
void set_target_to_stopping_point_xy();
/// get_stopping_point_xy - calculates stopping point based on current position, velocity, vehicle acceleration
/// distance_max allows limiting distance to stopping point
/// results placed in stopping_position vector
/// set_accel_xy() should be called before this method to set vehicle acceleration
/// set_leash_length() should have been called before this method