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Copter: Rename set_yaw_target_to_current_heading

This commit is contained in:
Leonard Hall 2021-05-24 23:12:19 +09:30 committed by Randy Mackay
parent 34e342f658
commit 3b0a870504
15 changed files with 26 additions and 26 deletions
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2
ArduCopter/mode.cpp
View File

@ -458,7 +458,7 @@ void Mode::make_safe_spool_down()
case AP_Motors::SpoolState::GROUND_IDLE:
// relax controllers during idle states
attitude_control->reset_rate_controller_I_terms_smoothly();
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
break;
case AP_Motors::SpoolState::SPOOLING_UP:

4
ArduCopter/mode_althold.cpp
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@ -45,12 +45,12 @@ void ModeAltHold::run()
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break;
case AltHold_Landed_Ground_Idle:
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff:

2
ArduCopter/mode_autotune.cpp
View File

@ -50,7 +50,7 @@ void AutoTune::run()
copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
}
copter.attitude_control->reset_rate_controller_I_terms_smoothly();
copter.attitude_control->set_yaw_target_to_current_heading();
copter.attitude_control->reset_yaw_target_and_rate();
float target_roll, target_pitch, target_yaw_rate;
get_pilot_desired_rp_yrate_cd(target_roll, target_pitch, target_yaw_rate);

4
ArduCopter/mode_drift.cpp
View File

@ -91,13 +91,13 @@ void ModeDrift::run()
switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN:
// Motors Stopped
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::GROUND_IDLE:
// Landed
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms_smoothly();
break;

4
ArduCopter/mode_flowhold.cpp
View File

@ -263,7 +263,7 @@ void ModeFlowHold::run()
case AltHold_MotorStopped:
copter.motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
copter.attitude_control->reset_rate_controller_I_terms();
copter.attitude_control->set_yaw_target_to_current_heading();
copter.attitude_control->reset_yaw_target_and_rate();
copter.pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
flow_pi_xy.reset_I();
break;
@ -285,7 +285,7 @@ void ModeFlowHold::run()
break;
case AltHold_Landed_Ground_Idle:
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff:

4
ArduCopter/mode_loiter.cpp
View File

@ -115,7 +115,7 @@ void ModeLoiter::run()
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
loiter_nav->init_target();
attitude_control->input_thrust_vector_rate_heading(loiter_nav->get_thrust_vector(), target_yaw_rate);
@ -141,7 +141,7 @@ void ModeLoiter::run()
break;
case AltHold_Landed_Ground_Idle:
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff:

4
ArduCopter/mode_poshold.cpp
View File

@ -101,7 +101,7 @@ void ModePosHold::run()
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
@ -141,7 +141,7 @@ void ModePosHold::run()
loiter_nav->clear_pilot_desired_acceleration();
loiter_nav->init_target();
loiter_nav->update(false);
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
init_wind_comp_estimate();
FALLTHROUGH;

4
ArduCopter/mode_sport.cpp
View File

@ -75,7 +75,7 @@ void ModeSport::run()
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
break;
@ -93,7 +93,7 @@ void ModeSport::run()
break;
case AltHold_Landed_Ground_Idle:
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff:

4
ArduCopter/mode_stabilize.cpp
View File

@ -31,13 +31,13 @@ void ModeStabilize::run()
switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN:
// Motors Stopped
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::GROUND_IDLE:
// Landed
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms_smoothly();
break;

4
ArduCopter/mode_stabilize_heli.cpp
View File

@ -50,14 +50,14 @@ void ModeStabilize_Heli::run()
switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN:
// Motors Stopped
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms();
break;
case AP_Motors::SpoolState::GROUND_IDLE:
// If aircraft is landed, set target heading to current and reset the integrator
// Otherwise motors could be at ground idle for practice autorotation
if ((motors->init_targets_on_arming() && motors->using_leaky_integrator()) || (copter.ap.land_complete && !motors->using_leaky_integrator())) {
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms_smoothly();
}
break;

4
ArduCopter/mode_systemid.cpp
View File

@ -131,7 +131,7 @@ void ModeSystemId::run()
switch (motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN:
// Motors Stopped
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms();
break;
@ -140,7 +140,7 @@ void ModeSystemId::run()
// Tradheli initializes targets when going from disarmed to armed state.
// init_targets_on_arming is always set true for multicopter.
if (motors->init_targets_on_arming()) {
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms_smoothly();
}
break;

4
ArduCopter/mode_throw.cpp
View File

@ -114,7 +114,7 @@ void ModeThrow::run()
}
// demand zero throttle (motors will be stopped anyway) and continually reset the attitude controller
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_throttle_out(0,true,g.throttle_filt);
break;
@ -129,7 +129,7 @@ void ModeThrow::run()
}
// Hold throttle at zero during the throw and continually reset the attitude controller
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_throttle_out(0,true,g.throttle_filt);

4
ArduCopter/mode_zigzag.cpp
View File

@ -326,7 +326,7 @@ void ModeZigZag::manual_control()
case AltHold_MotorStopped:
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
loiter_nav->init_target();
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(loiter_nav->get_roll(), loiter_nav->get_pitch(), target_yaw_rate);
@ -352,7 +352,7 @@ void ModeZigZag::manual_control()
break;
case AltHold_Landed_Ground_Idle:
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
FALLTHROUGH;
case AltHold_Landed_Pre_Takeoff:

2
ArduCopter/standby.cpp
View File

@ -18,6 +18,6 @@ void Copter::standby_update()
}
attitude_control->reset_rate_controller_I_terms();
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
pos_control->standby_xyz_reset();
}

2
ArduCopter/takeoff.cpp
View File

@ -123,7 +123,7 @@ void Mode::auto_takeoff_run()
wp_nav->shift_wp_origin_and_destination_to_current_pos_xy();
pos_control->relax_z_controller(0.0f); // forces throttle output to decay to zero
pos_control->update_z_controller();
attitude_control->set_yaw_target_to_current_heading();
attitude_control->reset_yaw_target_and_rate();
attitude_control->reset_rate_controller_I_terms();
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(0.0f, 0.0f, 0.0f);
return;