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AC_WPNav: move definitions to .cpp file

This commit is contained in:
Randy Mackay 2021-09-03 12:58:50 +09:00
parent af9a91c853
commit 28a14b3602
2 changed files with 10 additions and 12 deletions
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10
libraries/AC_WPNav/AC_WPNav.cpp
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@ -3,6 +3,16 @@
extern const AP_HAL::HAL& hal;
// maximum velocities and accelerations
#define WPNAV_ACCELERATION 250.0f // maximum horizontal acceleration in cm/s/s that wp navigation will request
#define WPNAV_WP_SPEED 1000.0f // default horizontal speed between waypoints in cm/s
#define WPNAV_WP_SPEED_MIN 20.0f // minimum horizontal speed between waypoints in cm/s
#define WPNAV_WP_RADIUS 200.0f // default waypoint radius in cm
#define WPNAV_WP_RADIUS_MIN 5.0f // minimum waypoint radius in cm
#define WPNAV_WP_SPEED_UP 250.0f // default maximum climb velocity
#define WPNAV_WP_SPEED_DOWN 150.0f // default maximum descent velocity
#define WPNAV_WP_ACCEL_Z_DEFAULT 100.0f // default vertical acceleration between waypoints in cm/s/s
const AP_Param::GroupInfo AC_WPNav::var_info[] = {
// index 0 was used for the old orientation matrix

12
libraries/AC_WPNav/AC_WPNav.h
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@ -12,18 +12,6 @@
#include <AP_Terrain/AP_Terrain.h>
#include <AC_Avoidance/AC_Avoid.h> // Stop at fence library
// maximum velocities and accelerations
#define WPNAV_ACCELERATION 250.0f // maximum horizontal acceleration in cm/s/s that wp navigation will request
#define WPNAV_WP_SPEED 1000.0f // default horizontal speed between waypoints in cm/s
#define WPNAV_WP_SPEED_MIN 20.0f // minimum horizontal speed between waypoints in cm/s
#define WPNAV_WP_RADIUS 200.0f // default waypoint radius in cm
#define WPNAV_WP_RADIUS_MIN 5.0f // minimum waypoint radius in cm
#define WPNAV_WP_SPEED_UP 250.0f // default maximum climb velocity
#define WPNAV_WP_SPEED_DOWN 150.0f // default maximum descent velocity
#define WPNAV_WP_ACCEL_Z_DEFAULT 100.0f // default vertical acceleration between waypoints in cm/s/s
class AC_WPNav
{
public: