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Copter: replace wp_nav.get_target_alt with get_destination_alt

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This commit is contained in:
Randy Mackay 2013-03-23 22:06:24 +09:00
parent 3bfcc3b8d0
commit 4de5f67a91
3 changed files with 7 additions and 7 deletions
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2
ArduCopter/ArduCopter.pde
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@ -1969,7 +1969,7 @@ void update_throttle_mode(void)
case THROTTLE_AUTO: case THROTTLE_AUTO:
// auto pilot altitude controller with target altitude held in next_WP.alt // auto pilot altitude controller with target altitude held in next_WP.alt
if(motors.auto_armed() == true) { if(motors.auto_armed() == true) {
get_throttle_althold_with_slew(wp_nav.get_target_alt(), g.auto_velocity_z_min, g.auto_velocity_z_max); get_throttle_althold_with_slew(wp_nav.get_destination_alt(), g.auto_velocity_z_min, g.auto_velocity_z_max);
} }
break; break;

2
ArduCopter/Log.pde
View File

@ -550,7 +550,7 @@ static void Log_Write_Control_Tuning()
throttle_in : g.rc_3.control_in, throttle_in : g.rc_3.control_in,
sonar_alt : sonar_alt, sonar_alt : sonar_alt,
baro_alt : baro_alt, baro_alt : baro_alt,
next_wp_alt : wp_nav.get_target_alt(), next_wp_alt : wp_nav.get_destination_alt(),
nav_throttle : nav_throttle, nav_throttle : nav_throttle,
angle_boost : angle_boost, angle_boost : angle_boost,
climb_rate : climb_rate, climb_rate : climb_rate,

10
ArduCopter/navigation.pde
View File

@ -190,19 +190,19 @@ static bool check_missed_wp()
static void force_new_altitude(float new_alt) static void force_new_altitude(float new_alt)
{ {
// update new target altitude // update new target altitude
wp_nav.set_target_alt(new_alt); wp_nav.set_destination_alt(new_alt);
set_alt_change(REACHED_ALT); set_alt_change(REACHED_ALT);
} }
static void set_new_altitude(float new_alt) static void set_new_altitude(float new_alt)
{ {
// if no change exit immediately // if no change exit immediately
if(new_alt == wp_nav.get_target_alt()) { if(new_alt == wp_nav.get_destination_alt()) {
return; return;
} }
// update new target altitude // update new target altitude
wp_nav.set_target_alt(new_alt); wp_nav.set_destination_alt(new_alt);
if(new_alt > (current_loc.alt + 80)) { if(new_alt > (current_loc.alt + 80)) {
// we are below, going up // we are below, going up
@ -223,12 +223,12 @@ static void verify_altitude()
{ {
if(alt_change_flag == ASCENDING) { if(alt_change_flag == ASCENDING) {
// we are below, going up // we are below, going up
if(current_loc.alt > wp_nav.get_target_alt() - 50) { if(current_loc.alt > wp_nav.get_destination_alt() - 50) {
set_alt_change(REACHED_ALT); set_alt_change(REACHED_ALT);
} }
}else if (alt_change_flag == DESCENDING) { }else if (alt_change_flag == DESCENDING) {
// we are above, going down // we are above, going down
if(current_loc.alt <= wp_nav.get_target_alt() + 50){ if(current_loc.alt <= wp_nav.get_destination_alt() + 50){
set_alt_change(REACHED_ALT); set_alt_change(REACHED_ALT);
} }
} }