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AC_WPNav: rename get_horizontal_velocity to get_speed_xy

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This new method name is consistent with the equivalent in the
AC_PosControl class
This commit is contained in:
Randy Mackay 2014-04-30 10:48:50 +09:00
parent eb1fb63e57
commit 510c9920a6
2 changed files with 11 additions and 11 deletions
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6
libraries/AC_WPNav/AC_WPNav.cpp
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@ -264,12 +264,12 @@ void AC_WPNav::update_loiter()
/// waypoint navigation
///
/// set_horizontal_velocity - allows main code to pass target horizontal velocity for wp navigation
void AC_WPNav::set_horizontal_velocity(float velocity_cms)
/// set_speed_xy - allows main code to pass target horizontal velocity for wp navigation
void AC_WPNav::set_speed_xy(float speed_cms)
{
// range check new target speed and update position controller
if (_wp_speed_cms >= WPNAV_WP_SPEED_MIN) {
_wp_speed_cms = velocity_cms;
_wp_speed_cms = speed_cms;
_pos_control.set_speed_xy(_wp_speed_cms);
// flag that wp leash must be recalculated
_flags.recalc_wp_leash = true;

16
libraries/AC_WPNav/AC_WPNav.h
View File

@ -88,17 +88,17 @@ public:
/// waypoint controller
///
/// set_horizontal_velocity - allows main code to pass target horizontal velocity for wp navigation
void set_horizontal_velocity(float velocity_cms);
/// set_speed_xy - allows main code to pass target horizontal velocity for wp navigation
void set_speed_xy(float speed_cms);
/// get_horizontal_velocity - allows main code to retrieve target horizontal velocity for wp navigation
float get_horizontal_velocity() const { return _wp_speed_cms; }
/// get_speed_xy - allows main code to retrieve target horizontal velocity for wp navigation
float get_speed_xy() const { return _wp_speed_cms; }
/// get_climb_velocity - returns target climb speed in cm/s during missions
float get_climb_velocity() const { return _wp_speed_up_cms; }
/// get_speed_up - returns target climb speed in cm/s during missions
float get_speed_up() const { return _wp_speed_up_cms; }
/// get_descent_velocity - returns target descent speed in cm/s during missions. Note: always positive
float get_descent_velocity() const { return _wp_speed_down_cms; }
/// get_speed_down - returns target descent speed in cm/s during missions. Note: always positive
float get_speed_down() const { return _wp_speed_down_cms; }
/// get_wp_radius - access for waypoint radius in cm
float get_wp_radius() const { return _wp_radius_cm; }