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Copter: replace wp_nav.get_target_alt with get_destination_alt

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
View File

@ -1969,7 +1969,7 @@ void update_throttle_mode(void)
case THROTTLE_AUTO:
// auto pilot altitude controller with target altitude held in next_WP.alt
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;

2
ArduCopter/Log.pde
View File

@ -550,7 +550,7 @@ static void Log_Write_Control_Tuning()
throttle_in : g.rc_3.control_in,
sonar_alt : sonar_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,
angle_boost : angle_boost,
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)
{
// update new target altitude
wp_nav.set_target_alt(new_alt);
wp_nav.set_destination_alt(new_alt);
set_alt_change(REACHED_ALT);
}
static void set_new_altitude(float new_alt)
{
// if no change exit immediately
if(new_alt == wp_nav.get_target_alt()) {
if(new_alt == wp_nav.get_destination_alt()) {
return;
}
// 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)) {
// we are below, going up
@ -223,12 +223,12 @@ static void verify_altitude()
{
if(alt_change_flag == ASCENDING) {
// 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);
}
}else if (alt_change_flag == DESCENDING) {
// 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);
}
}