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ArduPlane: convert MIN_GNDSPEED_CM to MIN_GROUNDSPEED

This commit is contained in:
Andrew Tridgell 2024-01-18 16:53:11 +11:00
parent 1f7f4bac73
commit 5723b1c780
6 changed files with 12 additions and 12 deletions
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7
ArduPlane/Parameters.cpp
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@ -637,12 +637,12 @@ const AP_Param::Info Plane::var_info[] = {
// @User: Advanced
GSCALAR(scaling_speed, "SCALING_SPEED", SCALING_SPEED),
// @Param: MIN_GNDSPD_CM
// @Param: MIN_GROUNDSPEED
// @DisplayName: Minimum ground speed
// @Description: Minimum ground speed in cm/s when under airspeed control
// @Units: cm/s
// @Units: m/s
// @User: Advanced
ASCALAR(min_gndspeed_cm, "MIN_GNDSPD_CM", MIN_GNDSPEED_CM),
ASCALAR(min_groundspeed, "MIN_GROUNDSPEED", MIN_GROUNDSPEED),
// @Param: TRIM_PITCH_DEG
// @DisplayName: Pitch angle offset
@ -1549,6 +1549,7 @@ void Plane::load_parameters(void)
// Convert _CM (centimeter) parameters to meters and _CD (centidegrees) parameters to meters
g.pitch_trim.convert_centi_parameter(AP_PARAM_INT16);
aparm.airspeed_cruise.convert_centi_parameter(AP_PARAM_INT32);
aparm.min_groundspeed.convert_centi_parameter(AP_PARAM_INT32);
hal.console->printf("load_all took %uus\n", (unsigned)(micros() - before));
}

2
ArduPlane/Parameters.h
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@ -219,7 +219,7 @@ public:
k_param_airspeed_cruise,
k_param_RTL_altitude_cm,
k_param_inverted_flight_ch_unused, // unused
k_param_min_gndspeed_cm,
k_param_min_groundspeed,
k_param_crosstrack_use_wind, // unused

2
ArduPlane/commands_logic.cpp
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@ -977,7 +977,7 @@ bool Plane::do_change_speed(uint8_t speedtype, float speed_target_ms, float thro
break;
case 1: // Ground speed
gcs().send_text(MAV_SEVERITY_INFO, "Set groundspeed %u", (unsigned)speed_target_ms);
aparm.min_gndspeed_cm.set(speed_target_ms * 100);
aparm.min_groundspeed.set(speed_target_ms);
return true;
}

7
ArduPlane/config.h
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@ -118,12 +118,11 @@
//////////////////////////////////////////////////////////////////////////////
// MIN_GNDSPEED
// MIN_GROUNDSPEED
//
#ifndef MIN_GNDSPEED
# define MIN_GNDSPEED 0 // m/s (0 disables)
#ifndef MIN_GROUNDSPEED
# define MIN_GROUNDSPEED 0 // m/s (0 disables)
#endif
#define MIN_GNDSPEED_CM MIN_GNDSPEED*100
//////////////////////////////////////////////////////////////////////////////

2
ArduPlane/is_flying.cpp
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@ -18,7 +18,7 @@ void Plane::update_is_flying_5Hz(void)
bool is_flying_bool = false;
uint32_t now_ms = AP_HAL::millis();
uint32_t ground_speed_thresh_cm = (aparm.min_gndspeed_cm > 0) ? ((uint32_t)(aparm.min_gndspeed_cm*0.9f)) : GPS_IS_FLYING_SPEED_CMS;
uint32_t ground_speed_thresh_cm = (aparm.min_groundspeed > 0) ? ((uint32_t)(aparm.min_groundspeed*90)) : GPS_IS_FLYING_SPEED_CMS;
bool gps_confirmed_movement = (gps.status() >= AP_GPS::GPS_OK_FIX_3D) &&
(gps.ground_speed_cm() >= ground_speed_thresh_cm);

4
ArduPlane/navigation.cpp
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@ -286,8 +286,8 @@ void Plane::calc_gndspeed_undershoot()
if (!yawVect.is_zero()) {
yawVect.normalize();
float gndSpdFwd = yawVect * velNED.xy();
groundspeed_undershoot_is_valid = aparm.min_gndspeed_cm > 0;
groundspeed_undershoot = groundspeed_undershoot_is_valid ? (aparm.min_gndspeed_cm - gndSpdFwd*100) : 0;
groundspeed_undershoot_is_valid = aparm.min_groundspeed > 0;
groundspeed_undershoot = groundspeed_undershoot_is_valid ? (aparm.min_groundspeed*100 - gndSpdFwd*100) : 0;
}
} else {
groundspeed_undershoot_is_valid = false;