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Plane: use cleaned up APIs

This commit is contained in:
Andrew Tridgell 2021-06-21 17:22:56 +10:00
parent d89388c4cc
commit 61ac45dd5a
1 changed files with 11 additions and 12 deletions
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23
ArduPlane/quadplane.cpp
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@ -1158,8 +1158,7 @@ void QuadPlane::check_yaw_reset(void)
void QuadPlane::set_climb_rate_cms(float target_climb_rate_cms, bool force_descend)
{
Vector3f vel{0,0,target_climb_rate_cms};
pos_control->input_vel_accel_z(vel, Vector3f(), force_descend);
pos_control->input_vel_accel_z(target_climb_rate_cms, 0, force_descend);
}
/*
@ -2887,11 +2886,11 @@ void QuadPlane::vtol_position_controller(void)
if (poscontrol.pilot_correction_done) {
// if the pilot has repositioned the vehicle then we switch to velocity control. This prevents the vehicle
// shifting position in the event of GPS glitches.
Vector3f zero;
pos_control->input_vel_accel_xy(poscontrol.target_vel_cms, zero);
Vector2f zero;
pos_control->input_vel_accel_xy(poscontrol.target_vel_cms.xy(), zero);
} else {
Vector3f zero;
pos_control->input_pos_vel_accel_xy(poscontrol.target_cm, zero, zero);
Vector2f zero;
pos_control->input_pos_vel_accel_xy(poscontrol.target_cm.xy(), zero, zero);
}
// also run fixed wing navigation
@ -2930,8 +2929,8 @@ void QuadPlane::vtol_position_controller(void)
pos_control->relax_velocity_controller_xy();
} else {
// we use velocity control in QPOS_LAND_FINAL to allow for GPS glitch handling
Vector3f zero;
pos_control->input_vel_accel_xy(poscontrol.target_vel_cms, zero);
Vector2f zero;
pos_control->input_vel_accel_xy(poscontrol.target_vel_cms.xy(), zero);
}
run_xy_controller();
@ -3010,9 +3009,9 @@ void QuadPlane::vtol_position_controller(void)
target_altitude_cm += MAX(terrain_altitude_offset_cm*100,0);
}
#endif
Vector3f pos{0,0,float(target_altitude_cm)};
Vector3f zero;
pos_control->input_pos_vel_accel_z(pos, zero, zero);
float zero = 0;
float target_z = target_altitude_cm;
pos_control->input_pos_vel_accel_z(target_z, zero, 0);
} else {
set_climb_rate_cms(0, false);
}
@ -3118,7 +3117,7 @@ void QuadPlane::takeoff_controller(void)
pos_control->set_accel_desired_xy_cmss(Vector2f());
// set position control target and update
Vector3f zero;
Vector2f zero;
pos_control->input_vel_accel_xy(zero, zero);
run_xy_controller();