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Plane: Move loiter_radius to vehicle

This commit is contained in:
Michael du Breuil 2017-01-30 09:44:35 -08:00 committed by Tom Pittenger
parent 302e80d72c
commit 2326eee9a0
5 changed files with 8 additions and 9 deletions
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2
ArduPlane/Parameters.cpp
View File

@ -292,7 +292,7 @@ const AP_Param::Info Plane::var_info[] = {
// @Range: -32767 32767
// @Increment: 1
// @User: Standard
GSCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS_DEFAULT),
ASCALAR(loiter_radius, "WP_LOITER_RAD", LOITER_RADIUS_DEFAULT),
// @Param: RTL_RADIUS
// @DisplayName: RTL loiter radius

1
ArduPlane/Parameters.h
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@ -401,7 +401,6 @@ public:
AP_Int8 waypoint_mode;
AP_Int16 waypoint_radius;
AP_Int16 waypoint_max_radius;
AP_Int16 loiter_radius;
AP_Int16 rtl_radius;
#if GEOFENCE_ENABLED == ENABLED

2
ArduPlane/commands.cpp
View File

@ -70,7 +70,7 @@ void Plane::set_next_WP(const struct Location &loc)
void Plane::set_guided_WP(void)
{
if (g.loiter_radius < 0 || guided_WP_loc.flags.loiter_ccw) {
if (aparm.loiter_radius < 0 || guided_WP_loc.flags.loiter_ccw) {
loiter.direction = -1;
} else {
loiter.direction = 1;

8
ArduPlane/commands_logic.cpp
View File

@ -337,7 +337,7 @@ void Plane::do_RTL(int32_t rtl_altitude)
setup_terrain_target_alt(next_WP_loc);
set_target_altitude_location(next_WP_loc);
if (g.loiter_radius < 0) {
if (aparm.loiter_radius < 0) {
loiter.direction = -1;
} else {
loiter.direction = 1;
@ -653,7 +653,7 @@ bool Plane::verify_loiter_unlim()
bool Plane::verify_loiter_time()
{
bool result = false;
// mission radius is always g.loiter_radius
// mission radius is always aparm.loiter_radius
update_loiter(0);
if (loiter.start_time_ms == 0) {
@ -861,7 +861,7 @@ bool Plane::verify_within_distance()
void Plane::do_loiter_at_location()
{
if (g.loiter_radius < 0) {
if (aparm.loiter_radius < 0) {
loiter.direction = -1;
} else {
loiter.direction = 1;
@ -1031,7 +1031,7 @@ bool Plane::verify_loiter_heading(bool init)
return true;
}
if (get_distance(next_WP_loc, next_nav_cmd.content.location) < labs(g.loiter_radius)) {
if (get_distance(next_WP_loc, next_nav_cmd.content.location) < labs(aparm.loiter_radius)) {
/* Whenever next waypoint is within the loiter radius,
maintaining loiter would prevent us from ever pointing toward the next waypoint.
Hence break out of loiter immediately

4
ArduPlane/navigation.cpp
View File

@ -143,11 +143,11 @@ void Plane::update_loiter(uint16_t radius)
{
if (radius <= 1) {
// if radius is <=1 then use the general loiter radius. if it's small, use default
radius = (abs(g.loiter_radius) <= 1) ? LOITER_RADIUS_DEFAULT : abs(g.loiter_radius);
radius = (abs(aparm.loiter_radius) <= 1) ? LOITER_RADIUS_DEFAULT : abs(aparm.loiter_radius);
if (next_WP_loc.flags.loiter_ccw == 1) {
loiter.direction = -1;
} else {
loiter.direction = (g.loiter_radius < 0) ? -1 : 1;
loiter.direction = (aparm.loiter_radius < 0) ? -1 : 1;
}
}