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AC_AttitudeControl: AC_PosControl: Remove const float

This commit is contained in:
Leonard Hall 2021-09-03 13:12:32 +09:30 committed by Randy Mackay
parent 94002101fd
commit 5337ab0551
2 changed files with 13 additions and 15 deletions
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18
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -806,7 +806,7 @@ void AC_PosControl::init_z()
/// The vel is projected forwards in time based on a time step of dt and acceleration accel.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The function alters the vel to be the kinematic path based on accel
void AC_PosControl::input_accel_z(const float accel)
void AC_PosControl::input_accel_z(float accel)
{
// calculated increased maximum acceleration if over speed
float accel_z_cmss = _accel_max_z_cmss;
@ -827,7 +827,7 @@ void AC_PosControl::input_accel_z(const float accel)
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and jerk set using the function set_max_speed_accel_z.
/// The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction.
void AC_PosControl::input_vel_accel_z(float &vel, const float accel, bool ignore_descent_limit, bool limit_output)
void AC_PosControl::input_vel_accel_z(float &vel, float accel, bool ignore_descent_limit, bool limit_output)
{
if (ignore_descent_limit) {
// turn off limits in the negative z direction
@ -857,7 +857,7 @@ void AC_PosControl::input_vel_accel_z(float &vel, const float accel, bool ignore
/// set_pos_target_z_from_climb_rate_cm - adjusts target up or down using a commanded climb rate in cm/s
/// using the default position control kinematic path.
/// The zero target altitude is varied to follow pos_offset_z
void AC_PosControl::set_pos_target_z_from_climb_rate_cm(const float vel)
void AC_PosControl::set_pos_target_z_from_climb_rate_cm(float vel)
{
// remove terrain offsets for flat earth assumption
_pos_target.z -= _pos_offset_z;
@ -879,10 +879,9 @@ void AC_PosControl::set_pos_target_z_from_climb_rate_cm(const float vel)
/// land_at_climb_rate_cm - adjusts target up or down using a commanded climb rate in cm/s
/// using the default position control kinematic path.
/// ignore_descent_limit turns off output saturation handling to aid in landing detection. ignore_descent_limit should be true unless landing.
void AC_PosControl::land_at_climb_rate_cm(const float vel, bool ignore_descent_limit)
void AC_PosControl::land_at_climb_rate_cm(float vel, bool ignore_descent_limit)
{
float vel_temp = vel;
input_vel_accel_z(vel_temp, 0, ignore_descent_limit);
input_vel_accel_z(vel, 0, ignore_descent_limit);
}
/// input_pos_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration.
@ -890,7 +889,7 @@ void AC_PosControl::land_at_climb_rate_cm(const float vel, bool ignore_descent_l
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The function alters the pos and vel to be the kinematic path based on accel
/// The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction.
void AC_PosControl::input_pos_vel_accel_z(float &pos, float &vel, const float accel, bool limit_output)
void AC_PosControl::input_pos_vel_accel_z(float &pos, float &vel, float accel, bool limit_output)
{
// calculated increased maximum acceleration if over speed
float accel_z_cmss = _accel_max_z_cmss;
@ -917,11 +916,10 @@ void AC_PosControl::input_pos_vel_accel_z(float &pos, float &vel, const float ac
/// set_alt_target_with_slew - adjusts target up or down using a commanded altitude in cm
/// using the default position control kinematic path.
void AC_PosControl::set_alt_target_with_slew(const float& pos)
void AC_PosControl::set_alt_target_with_slew(float pos)
{
float posf = pos;
float zero = 0;
input_pos_vel_accel_z(posf, zero, 0);
input_pos_vel_accel_z(pos, zero, 0);
}
/// update_pos_offset_z - updates the vertical offsets used by terrain following

10
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -187,24 +187,24 @@ public:
/// input_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input acceleration.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and jerk set using the function set_max_speed_accel_z.
virtual void input_accel_z(const float accel);
virtual void input_accel_z(float accel);
/// input_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input velocity and acceleration.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and jerk set using the function set_max_speed_accel_z.
/// The function alters the vel to be the kinematic path based on accel
/// The parameter limit_output specifies if the velocity and acceleration limits are applied to the sum of commanded and correction values or just correction.
virtual void input_vel_accel_z(float &vel, const float accel, bool ignore_descent_limit, bool limit_output = true);
virtual void input_vel_accel_z(float &vel, float accel, bool ignore_descent_limit, bool limit_output = true);
/// set_pos_target_z_from_climb_rate_cm - adjusts target up or down using a commanded climb rate in cm/s
/// using the default position control kinematic path.
/// The zero target altitude is varied to follow pos_offset_z
void set_pos_target_z_from_climb_rate_cm(const float vel);
void set_pos_target_z_from_climb_rate_cm(float vel);
/// land_at_climb_rate_cm - adjusts target up or down using a commanded climb rate in cm/s
/// using the default position control kinematic path.
/// ignore_descent_limit turns off output saturation handling to aid in landing detection. ignore_descent_limit should be true unless landing.
void land_at_climb_rate_cm(const float vel, bool ignore_descent_limit);
void land_at_climb_rate_cm(float vel, bool ignore_descent_limit);
/// input_pos_vel_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
@ -214,7 +214,7 @@ public:
/// set_alt_target_with_slew - adjusts target up or down using a commanded altitude in cm
/// using the default position control kinematic path.
void set_alt_target_with_slew(const float& pos);
void set_alt_target_with_slew(float pos);
/// update_pos_offset_z - updates the vertical offsets used by terrain following
void update_pos_offset_z(float pos_offset);