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Rover: integrate rename of AR_WPNav::set_speed_max 

range checks are no longer required because they are implemented within AR_WPNav
This commit is contained in:
Randy Mackay 2022-01-06 09:43:58 +09:00
parent a5638f5699
commit 5341070af4
4 changed files with 5 additions and 21 deletions
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6
Rover/mode_auto.cpp
View File

@ -250,11 +250,7 @@ bool ModeAuto::set_desired_speed(float speed)
switch (_submode) { switch (_submode) {
case Auto_WP: case Auto_WP:
case Auto_Stop: case Auto_Stop:
if (!is_negative(speed)) { return g2.wp_nav.set_speed_max(speed);
g2.wp_nav.set_desired_speed(speed);
return true;
}
return false;
case Auto_HeadingAndSpeed: case Auto_HeadingAndSpeed:
_desired_speed = speed; _desired_speed = speed;
return true; return true;

8
Rover/mode_guided.cpp
View File

@ -262,11 +262,7 @@ bool ModeGuided::set_desired_speed(float speed)
{ {
switch (_guided_mode) { switch (_guided_mode) {
case Guided_WP: case Guided_WP:
if (!is_negative(speed)) { return g2.wp_nav.set_speed_max(speed);
g2.wp_nav.set_desired_speed(speed);
return true;
}
return false;
case Guided_HeadingAndSpeed: case Guided_HeadingAndSpeed:
case Guided_TurnRateAndSpeed: case Guided_TurnRateAndSpeed:
// speed is set from mavlink message // speed is set from mavlink message
@ -327,7 +323,7 @@ bool ModeGuided::set_desired_location(const Location &destination, Location next
// handle guided specific initialisation and logging // handle guided specific initialisation and logging
_guided_mode = ModeGuided::Guided_WP; _guided_mode = ModeGuided::Guided_WP;
send_notification = true; send_notification = true;
rover.Log_Write_GuidedTarget(_guided_mode, Vector3f(destination.lat, destination.lng, 0), Vector3f(g2.wp_nav.get_desired_speed(), 0.0f, 0.0f)); rover.Log_Write_GuidedTarget(_guided_mode, Vector3f(destination.lat, destination.lng, 0), Vector3f(g2.wp_nav.get_speed_max(), 0.0f, 0.0f));
return true; return true;
} }

6
Rover/mode_rtl.cpp
View File

@ -81,9 +81,5 @@ bool ModeRTL::reached_destination() const
// set desired speed in m/s // set desired speed in m/s
bool ModeRTL::set_desired_speed(float speed) bool ModeRTL::set_desired_speed(float speed)
{ {
if (is_negative(speed)) { return g2.wp_nav.set_speed_max(speed);
return false;
}
g2.wp_nav.set_desired_speed(speed);
return true;
} }

6
Rover/mode_smart_rtl.cpp
View File

@ -127,11 +127,7 @@ bool ModeSmartRTL::get_desired_location(Location& destination) const
// set desired speed in m/s // set desired speed in m/s
bool ModeSmartRTL::set_desired_speed(float speed) bool ModeSmartRTL::set_desired_speed(float speed)
{ {
if (is_negative(speed)) { return g2.wp_nav.set_speed_max(speed);
return false;
}
g2.wp_nav.set_desired_speed(speed);
return true;
} }
// save current position for use by the smart_rtl flight mode // save current position for use by the smart_rtl flight mode