Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: Change the sub-mode description

This commit is contained in:
muramura 2024-04-29 02:30:30 +09:00 committed by Andrew Tridgell
parent 3201622d38
commit 5107cb495a
1 changed files with 7 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
ArduCopter/mode_guided.cpp
View File

@ -243,10 +243,10 @@ void ModeGuided::pos_control_start()
pva_control_start(); pva_control_start();
} }
// initialise guided mode's velocity controller // initialise guided mode's acceleration controller
void ModeGuided::accel_control_start() void ModeGuided::accel_control_start()
{ {
// set guided_mode to velocity controller // set guided_mode to acceleration controller
guided_mode = SubMode::Accel; guided_mode = SubMode::Accel;
// initialise position controller // initialise position controller
@ -256,7 +256,7 @@ void ModeGuided::accel_control_start()
// initialise guided mode's velocity and acceleration controller // initialise guided mode's velocity and acceleration controller
void ModeGuided::velaccel_control_start() void ModeGuided::velaccel_control_start()
{ {
// set guided_mode to velocity controller // set guided_mode to velocity and acceleration controller
guided_mode = SubMode::VelAccel; guided_mode = SubMode::VelAccel;
// initialise position controller // initialise position controller
@ -266,7 +266,7 @@ void ModeGuided::velaccel_control_start()
// initialise guided mode's position, velocity and acceleration controller // initialise guided mode's position, velocity and acceleration controller
void ModeGuided::posvelaccel_control_start() void ModeGuided::posvelaccel_control_start()
{ {
// set guided_mode to velocity controller // set guided_mode to position, velocity and acceleration controller
guided_mode = SubMode::PosVelAccel; guided_mode = SubMode::PosVelAccel;
// initialise position controller // initialise position controller
@ -515,7 +515,7 @@ bool ModeGuided::set_destination(const Location& dest_loc, bool use_yaw, float y
// set_velaccel - sets guided mode's target velocity and acceleration // set_velaccel - sets guided mode's target velocity and acceleration
void ModeGuided::set_accel(const Vector3f& acceleration, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw, bool log_request) void ModeGuided::set_accel(const Vector3f& acceleration, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw, bool log_request)
{ {
// check we are in velocity control mode // check we are in acceleration control mode
if (guided_mode != SubMode::Accel) { if (guided_mode != SubMode::Accel) {
accel_control_start(); accel_control_start();
} }
@ -547,7 +547,7 @@ void ModeGuided::set_velocity(const Vector3f& velocity, bool use_yaw, float yaw_
// set_velaccel - sets guided mode's target velocity and acceleration // set_velaccel - sets guided mode's target velocity and acceleration
void ModeGuided::set_velaccel(const Vector3f& velocity, const Vector3f& acceleration, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw, bool log_request) void ModeGuided::set_velaccel(const Vector3f& velocity, const Vector3f& acceleration, bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_yaw, bool log_request)
{ {
// check we are in velocity control mode // check we are in velocity and acceleration control mode
if (guided_mode != SubMode::VelAccel) { if (guided_mode != SubMode::VelAccel) {
velaccel_control_start(); velaccel_control_start();
} }
@ -589,7 +589,7 @@ bool ModeGuided::set_destination_posvelaccel(const Vector3f& destination, const
} }
#endif #endif
// check we are in velocity control mode // check we are in position, velocity and acceleration control mode
if (guided_mode != SubMode::PosVelAccel) { if (guided_mode != SubMode::PosVelAccel) {
posvelaccel_control_start(); posvelaccel_control_start();
} }