mirror of https://github.com/ArduPilot/ardupilot
Sub: Remove LAND parameters
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@ -266,24 +266,6 @@ const AP_Param::Info Sub::var_info[] = {
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// @User: Standard
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// @User: Standard
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GSCALAR(rtl_loiter_time, "RTL_LOIT_TIME", RTL_LOITER_TIME),
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GSCALAR(rtl_loiter_time, "RTL_LOIT_TIME", RTL_LOITER_TIME),
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// @Param: LAND_SPEED
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// @DisplayName: Land speed
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// @Description: The descent speed for the final stage of landing in cm/s
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// @Units: cm/s
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// @Range: 30 200
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// @Increment: 10
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// @User: Standard
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GSCALAR(land_speed, "LAND_SPEED", LAND_SPEED),
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// @Param: LAND_SPEED_HIGH
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// @DisplayName: Land speed high
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// @Description: The descent speed for the first stage of landing in cm/s. If this is zero then WPNAV_SPEED_DN is used
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// @Units: cm/s
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// @Range: 0 500
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// @Increment: 10
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// @User: Standard
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GSCALAR(land_speed_high, "LAND_SPEED_HIGH", 0),
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// @Param: PILOT_VELZ_MAX
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// @Param: PILOT_VELZ_MAX
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// @DisplayName: Pilot maximum vertical speed
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// @DisplayName: Pilot maximum vertical speed
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// @Description: The maximum vertical velocity the pilot may request in cm/s
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// @Description: The maximum vertical velocity the pilot may request in cm/s
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@ -482,13 +464,6 @@ const AP_Param::Info Sub::var_info[] = {
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// @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp
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// @Values: 0:Very Soft, 25:Soft, 50:Medium, 75:Crisp, 100:Very Crisp
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GSCALAR(rc_feel_rp, "RC_FEEL_RP", RC_FEEL_RP_MEDIUM),
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GSCALAR(rc_feel_rp, "RC_FEEL_RP", RC_FEEL_RP_MEDIUM),
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// @Param: LAND_REPOSITION
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// @DisplayName: Land repositioning
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// @Description: Enables user input during LAND mode, the landing phase of RTL, and auto mode landings.
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// @Values: 0:No repositioning, 1:Repositioning
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// @User: Advanced
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GSCALAR(land_repositioning, "LAND_REPOSITION", LAND_REPOSITION_DEFAULT),
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// @Param: FS_EKF_ACTION
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// @Param: FS_EKF_ACTION
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// @DisplayName: EKF Failsafe Action
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// @DisplayName: EKF Failsafe Action
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// @Description: Controls the action that will be taken when an EKF failsafe is invoked
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// @Description: Controls the action that will be taken when an EKF failsafe is invoked
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@ -95,7 +95,6 @@ public:
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k_param_rc_14,
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k_param_rc_14,
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k_param_rally,
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k_param_rally,
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k_param_pilot_accel_z,
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k_param_pilot_accel_z,
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k_param_land_repositioning,
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k_param_rangefinder, // rangefinder object
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k_param_rangefinder, // rangefinder object
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k_param_fs_ekf_thresh,
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k_param_fs_ekf_thresh,
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k_param_terrain,
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k_param_terrain,
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@ -210,12 +209,6 @@ public:
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k_param_flight_mode5,
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k_param_flight_mode5,
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k_param_flight_mode6,
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k_param_flight_mode6,
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//
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// 210: Waypoint data
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//
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k_param_land_speed,
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k_param_land_speed_high,
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//
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//
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// 220: PI/D Controllers
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// 220: PI/D Controllers
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//
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//
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@ -328,8 +321,6 @@ public:
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// Waypoints
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// Waypoints
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//
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//
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AP_Int32 rtl_loiter_time;
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AP_Int32 rtl_loiter_time;
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AP_Int16 land_speed;
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AP_Int16 land_speed_high;
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AP_Int16 pilot_velocity_z_max; // maximum vertical velocity the pilot may request
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AP_Int16 pilot_velocity_z_max; // maximum vertical velocity the pilot may request
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AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request
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AP_Int16 pilot_accel_z; // vertical acceleration the pilot may request
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@ -364,7 +355,6 @@ public:
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AP_Int8 arming_check;
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AP_Int8 arming_check;
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AP_Int8 disarm_delay;
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AP_Int8 disarm_delay;
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AP_Int8 land_repositioning;
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AP_Int8 fs_ekf_action;
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AP_Int8 fs_ekf_action;
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AP_Int8 fs_crash_check;
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AP_Int8 fs_crash_check;
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AP_Float fs_ekf_thresh;
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AP_Float fs_ekf_thresh;
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@ -49,7 +49,7 @@ void Sub::surface_run()
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
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// set target climb rate
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// set target climb rate
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float cmb_rate = constrain_float(abs(g.land_speed), 1, pos_control.get_speed_up());
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float cmb_rate = constrain_float(abs(wp_nav.get_speed_up()), 1, pos_control.get_speed_up());
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// record desired climb rate for logging
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// record desired climb rate for logging
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desired_climb_rate = cmb_rate;
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desired_climb_rate = cmb_rate;
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