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Sub: use cleaned up APIs

This commit is contained in:
Andrew Tridgell 2021-06-21 17:23:03 +10:00
parent 61ac45dd5a
commit 18dd373ff5
2 changed files with 5 additions and 5 deletions
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2
ArduSub/commands_logic.cpp
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@ -299,7 +299,7 @@ void Sub::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
if (target_loc.lat == 0 && target_loc.lng == 0) {
// To-Do: make this simpler
Vector3f temp_pos;
wp_nav.get_wp_stopping_point_xy(temp_pos);
wp_nav.get_wp_stopping_point_xy(temp_pos.xy());
const Location temp_loc(temp_pos, Location::AltFrame::ABOVE_ORIGIN);
target_loc.lat = temp_loc.lat;
target_loc.lng = temp_loc.lng;

8
ArduSub/control_guided.cpp
View File

@ -217,8 +217,8 @@ bool Sub::guided_set_destination_posvel(const Vector3f& destination, const Vecto
posvel_pos_target_cm = destination;
posvel_vel_target_cms = velocity;
pos_control.input_pos_vel_accel_xy(posvel_pos_target_cm, posvel_vel_target_cms, Vector3f());
pos_control.input_pos_vel_accel_z(posvel_pos_target_cm, posvel_vel_target_cms, Vector3f());
pos_control.input_pos_vel_accel_xy(posvel_pos_target_cm.xy(), posvel_vel_target_cms.xy(), Vector2f());
pos_control.input_pos_vel_accel_z(posvel_pos_target_cm.z, posvel_vel_target_cms.z, 0);
// log target
Log_Write_GuidedTarget(guided_mode, destination, velocity);
@ -421,8 +421,8 @@ void Sub::guided_posvel_control_run()
posvel_pos_target_cm += posvel_vel_target_cms * pos_control.get_dt();
// send position and velocity targets to position controller
pos_control.input_pos_vel_accel_xy(posvel_pos_target_cm, posvel_vel_target_cms, Vector3f());
pos_control.input_pos_vel_accel_z(posvel_pos_target_cm, posvel_vel_target_cms, Vector3f());
pos_control.input_pos_vel_accel_xy(posvel_pos_target_cm.xy(), posvel_vel_target_cms.xy(), Vector2f());
pos_control.input_pos_vel_accel_z(posvel_pos_target_cm.z, posvel_vel_target_cms.z, 0);
// run position controller
pos_control.update_xy_controller();