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Sub: Cope with AC_PosControl renaming

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This commit is contained in:
Michael du Breuil 2018-09-19 22:44:52 -07:00 committed by WickedShell
parent b2ef6b901e
commit 27fad4489e
6 changed files with 27 additions and 27 deletions
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8
ArduSub/control_althold.cpp
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@ -14,8 +14,8 @@ bool Sub::althold_init()
// initialize vertical speeds and leash lengths // initialize vertical speeds and leash lengths
// sets the maximum speed up and down returned by position controller // 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_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control.set_accel_z(g.pilot_accel_z); pos_control.set_max_accel_z(g.pilot_accel_z);
// initialise position and desired velocity // initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude()); pos_control.set_alt_target(inertial_nav.get_altitude());
@ -33,8 +33,8 @@ void Sub::althold_run()
uint32_t tnow = AP_HAL::millis(); uint32_t tnow = AP_HAL::millis();
// initialize vertical speeds and acceleration // initialize vertical speeds and acceleration
pos_control.set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control.set_accel_z(g.pilot_accel_z); pos_control.set_max_accel_z(g.pilot_accel_z);
if (!motors.armed()) { if (!motors.armed()) {
motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED); motors.set_desired_spool_state(AP_Motors::DESIRED_SPIN_WHEN_ARMED);

4
ArduSub/control_auto.cpp
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@ -653,8 +653,8 @@ bool Sub::auto_terrain_recover_start()
pos_control.relax_alt_hold_controllers(motors.get_throttle_hover()); pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
// initialize vertical speeds and leash lengths // initialize vertical speeds and leash lengths
pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); pos_control.set_max_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_accel_z(wp_nav.get_accel_z());
// Reset vertical position and velocity targets // Reset vertical position and velocity targets
pos_control.set_alt_target(inertial_nav.get_altitude()); pos_control.set_alt_target(inertial_nav.get_altitude());

16
ArduSub/control_circle.cpp
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@ -14,10 +14,10 @@ bool Sub::circle_init()
circle_pilot_yaw_override = false; circle_pilot_yaw_override = false;
// initialize speeds and accelerations // initialize speeds and accelerations
pos_control.set_speed_xy(wp_nav.get_speed_xy()); pos_control.set_max_speed_xy(wp_nav.get_speed_xy());
pos_control.set_accel_xy(wp_nav.get_wp_acceleration()); pos_control.set_max_accel_xy(wp_nav.get_wp_acceleration());
pos_control.set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control.set_accel_z(g.pilot_accel_z); pos_control.set_max_accel_z(g.pilot_accel_z);
// initialise circle controller including setting the circle center based on vehicle speed // initialise circle controller including setting the circle center based on vehicle speed
circle_nav.init(); circle_nav.init();
@ -33,10 +33,10 @@ void Sub::circle_run()
float target_climb_rate = 0; float target_climb_rate = 0;
// update parameters, to allow changing at runtime // update parameters, to allow changing at runtime
pos_control.set_speed_xy(wp_nav.get_speed_xy()); pos_control.set_max_speed_xy(wp_nav.get_speed_xy());
pos_control.set_accel_xy(wp_nav.get_wp_acceleration()); pos_control.set_max_accel_xy(wp_nav.get_wp_acceleration());
pos_control.set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control.set_accel_z(g.pilot_accel_z); pos_control.set_max_accel_z(g.pilot_accel_z);
// if not armed set throttle to zero and exit immediately // if not armed set throttle to zero and exit immediately
if (!motors.armed()) { if (!motors.armed()) {

16
ArduSub/control_guided.cpp
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@ -76,8 +76,8 @@ void Sub::guided_vel_control_start()
guided_mode = Guided_Velocity; guided_mode = Guided_Velocity;
// initialize vertical speeds and leash lengths // initialize vertical speeds and leash lengths
pos_control.set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control.set_accel_z(g.pilot_accel_z); pos_control.set_max_accel_z(g.pilot_accel_z);
// initialise velocity controller // initialise velocity controller
pos_control.init_vel_controller_xyz(); pos_control.init_vel_controller_xyz();
@ -92,8 +92,8 @@ void Sub::guided_posvel_control_start()
pos_control.init_xy_controller(); pos_control.init_xy_controller();
// set speed and acceleration from wpnav's speed and acceleration // set speed and acceleration from wpnav's speed and acceleration
pos_control.set_speed_xy(wp_nav.get_speed_xy()); pos_control.set_max_speed_xy(wp_nav.get_speed_xy());
pos_control.set_accel_xy(wp_nav.get_wp_acceleration()); pos_control.set_max_accel_xy(wp_nav.get_wp_acceleration());
const Vector3f& curr_pos = inertial_nav.get_position(); const Vector3f& curr_pos = inertial_nav.get_position();
const Vector3f& curr_vel = inertial_nav.get_velocity(); 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); pos_control.set_desired_velocity_xy(curr_vel.x, curr_vel.y);
// set vertical speed and acceleration // set vertical speed and acceleration
pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); pos_control.set_max_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_accel_z(wp_nav.get_accel_z());
// pilot always controls yaw // pilot always controls yaw
set_auto_yaw_mode(AUTO_YAW_HOLD); set_auto_yaw_mode(AUTO_YAW_HOLD);
@ -117,8 +117,8 @@ void Sub::guided_angle_control_start()
guided_mode = Guided_Angle; guided_mode = Guided_Angle;
// set vertical speed and acceleration // set vertical speed and acceleration
pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); pos_control.set_max_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_accel_z(wp_nav.get_accel_z());
// initialise position and desired velocity // initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude()); pos_control.set_alt_target(inertial_nav.get_altitude());

4
ArduSub/control_poshold.cpp
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@ -15,8 +15,8 @@ bool Sub::poshold_init()
} }
// initialize vertical speeds and acceleration // initialize vertical speeds and acceleration
pos_control.set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up); pos_control.set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
pos_control.set_accel_z(g.pilot_accel_z); pos_control.set_max_accel_z(g.pilot_accel_z);
// initialise position and desired velocity // initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude()); pos_control.set_alt_target(inertial_nav.get_altitude());

6
ArduSub/control_surface.cpp
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@ -8,8 +8,8 @@ bool Sub::surface_init()
} }
// initialize vertical speeds and leash lengths // initialize vertical speeds and leash lengths
pos_control.set_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up()); pos_control.set_max_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_accel_z(wp_nav.get_accel_z());
// initialise position and desired velocity // initialise position and desired velocity
pos_control.set_alt_target(inertial_nav.get_altitude()); 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); attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
// set target climb 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 // record desired climb rate for logging
desired_climb_rate = cmb_rate; desired_climb_rate = cmb_rate;