From 27fad4489e12bfc8d608a40d592fafad1ef30102 Mon Sep 17 00:00:00 2001 From: Michael du Breuil Date: Wed, 19 Sep 2018 22:44:52 -0700 Subject: [PATCH] Sub: Cope with AC_PosControl renaming --- ArduSub/control_althold.cpp | 8 ++++---- ArduSub/control_auto.cpp | 4 ++-- ArduSub/control_circle.cpp | 16 ++++++++-------- ArduSub/control_guided.cpp | 16 ++++++++-------- ArduSub/control_poshold.cpp | 4 ++-- ArduSub/control_surface.cpp | 6 +++--- 6 files changed, 27 insertions(+), 27 deletions(-) diff --git a/ArduSub/control_althold.cpp b/ArduSub/control_althold.cpp index 2727be13ec..bf9ef0e5ae 100644 --- a/ArduSub/control_althold.cpp +++ b/ArduSub/control_althold.cpp @@ -14,8 +14,8 @@ bool Sub::althold_init() // initialize vertical speeds and leash lengths // sets the maximum speed up and down returned by position controller - pos_control.set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); - pos_control.set_accel_z(g.pilot_accel_z); + pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); + pos_control.set_max_accel_z(g.pilot_accel_z); // initialise position and desired velocity pos_control.set_alt_target(inertial_nav.get_altitude()); @@ -33,8 +33,8 @@ void Sub::althold_run() uint32_t tnow = AP_HAL::millis(); // initialize vertical speeds and acceleration - pos_control.set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); - pos_control.set_accel_z(g.pilot_accel_z); + pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); + pos_control.set_max_accel_z(g.pilot_accel_z); if (!motors.armed()) { motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); diff --git a/ArduSub/control_auto.cpp b/ArduSub/control_auto.cpp index c38beb0647..abeffe06f4 100644 --- a/ArduSub/control_auto.cpp +++ b/ArduSub/control_auto.cpp @@ -653,8 +653,8 @@ bool Sub::auto_terrain_recover_start() pos_control.relax_alt_hold_controllers(motors.get_throttle_hover()); // initialize vertical speeds and leash lengths - pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); - pos_control.set_accel_z(wp_nav.get_accel_z()); + pos_control.set_max_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); + pos_control.set_max_accel_z(wp_nav.get_accel_z()); // Reset vertical position and velocity targets pos_control.set_alt_target(inertial_nav.get_altitude()); diff --git a/ArduSub/control_circle.cpp b/ArduSub/control_circle.cpp index 96bd698ae0..69849e6ce7 100644 --- a/ArduSub/control_circle.cpp +++ b/ArduSub/control_circle.cpp @@ -14,10 +14,10 @@ bool Sub::circle_init() circle_pilot_yaw_override = false; // initialize speeds and accelerations - pos_control.set_speed_xy(wp_nav.get_speed_xy()); - pos_control.set_accel_xy(wp_nav.get_wp_acceleration()); - pos_control.set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); - pos_control.set_accel_z(g.pilot_accel_z); + pos_control.set_max_speed_xy(wp_nav.get_speed_xy()); + pos_control.set_max_accel_xy(wp_nav.get_wp_acceleration()); + pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); + pos_control.set_max_accel_z(g.pilot_accel_z); // initialise circle controller including setting the circle center based on vehicle speed circle_nav.init(); @@ -33,10 +33,10 @@ void Sub::circle_run() float target_climb_rate = 0; // update parameters, to allow changing at runtime - pos_control.set_speed_xy(wp_nav.get_speed_xy()); - pos_control.set_accel_xy(wp_nav.get_wp_acceleration()); - pos_control.set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); - pos_control.set_accel_z(g.pilot_accel_z); + pos_control.set_max_speed_xy(wp_nav.get_speed_xy()); + pos_control.set_max_accel_xy(wp_nav.get_wp_acceleration()); + pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); + pos_control.set_max_accel_z(g.pilot_accel_z); // if not armed set throttle to zero and exit immediately if (!motors.armed()) { diff --git a/ArduSub/control_guided.cpp b/ArduSub/control_guided.cpp index f2562424bd..cc5fef0f95 100644 --- a/ArduSub/control_guided.cpp +++ b/ArduSub/control_guided.cpp @@ -76,8 +76,8 @@ void Sub::guided_vel_control_start() guided_mode = Guided_Velocity; // initialize vertical speeds and leash lengths - pos_control.set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); - pos_control.set_accel_z(g.pilot_accel_z); + pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); + pos_control.set_max_accel_z(g.pilot_accel_z); // initialise velocity controller pos_control.init_vel_controller_xyz(); @@ -92,8 +92,8 @@ void Sub::guided_posvel_control_start() pos_control.init_xy_controller(); // set speed and acceleration from wpnav's speed and acceleration - pos_control.set_speed_xy(wp_nav.get_speed_xy()); - pos_control.set_accel_xy(wp_nav.get_wp_acceleration()); + pos_control.set_max_speed_xy(wp_nav.get_speed_xy()); + pos_control.set_max_accel_xy(wp_nav.get_wp_acceleration()); const Vector3f& curr_pos = inertial_nav.get_position(); const Vector3f& curr_vel = inertial_nav.get_velocity(); @@ -103,8 +103,8 @@ void Sub::guided_posvel_control_start() pos_control.set_desired_velocity_xy(curr_vel.x, curr_vel.y); // set vertical speed and acceleration - pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); - pos_control.set_accel_z(wp_nav.get_accel_z()); + pos_control.set_max_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); + pos_control.set_max_accel_z(wp_nav.get_accel_z()); // pilot always controls yaw set_auto_yaw_mode(AUTO_YAW_HOLD); @@ -117,8 +117,8 @@ void Sub::guided_angle_control_start() guided_mode = Guided_Angle; // set vertical speed and acceleration - pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); - pos_control.set_accel_z(wp_nav.get_accel_z()); + pos_control.set_max_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); + pos_control.set_max_accel_z(wp_nav.get_accel_z()); // initialise position and desired velocity pos_control.set_alt_target(inertial_nav.get_altitude()); diff --git a/ArduSub/control_poshold.cpp b/ArduSub/control_poshold.cpp index f27b2d5894..738dc2a4c5 100644 --- a/ArduSub/control_poshold.cpp +++ b/ArduSub/control_poshold.cpp @@ -15,8 +15,8 @@ bool Sub::poshold_init() } // initialize vertical speeds and acceleration - pos_control.set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); - pos_control.set_accel_z(g.pilot_accel_z); + pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); + pos_control.set_max_accel_z(g.pilot_accel_z); // initialise position and desired velocity pos_control.set_alt_target(inertial_nav.get_altitude()); diff --git a/ArduSub/control_surface.cpp b/ArduSub/control_surface.cpp index fa46c3e809..392862d204 100644 --- a/ArduSub/control_surface.cpp +++ b/ArduSub/control_surface.cpp @@ -8,8 +8,8 @@ bool Sub::surface_init() } // initialize vertical speeds and leash lengths - pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); - pos_control.set_accel_z(wp_nav.get_accel_z()); + pos_control.set_max_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); + pos_control.set_max_accel_z(wp_nav.get_accel_z()); // initialise position and desired velocity pos_control.set_alt_target(inertial_nav.get_altitude()); @@ -48,7 +48,7 @@ void Sub::surface_run() attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate); // set target climb rate - float cmb_rate = constrain_float(abs(wp_nav.get_speed_up()), 1, pos_control.get_speed_up()); + float cmb_rate = constrain_float(abs(wp_nav.get_speed_up()), 1, pos_control.get_max_speed_up()); // record desired climb rate for logging desired_climb_rate = cmb_rate;