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Rover: use mode class's get_distance_to_destination and speed_error 

used for reporting to GCS and logging
This commit is contained in:
Randy Mackay 2017-08-02 08:14:49 +09:00
parent f71db5ae05
commit 783f8243df
3 changed files with 3 additions and 6 deletions
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4
APMrover2/GCS_Mavlink.cpp
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@ -134,9 +134,9 @@ void Rover::send_nav_controller_output(mavlink_channel_t chan)
ahrs.groundspeed() * ins.get_gyro().z, // use nav_pitch to hold actual Y accel ahrs.groundspeed() * ins.get_gyro().z, // use nav_pitch to hold actual Y accel
nav_controller->nav_bearing_cd() * 0.01f, nav_controller->nav_bearing_cd() * 0.01f,
nav_controller->target_bearing_cd() * 0.01f, nav_controller->target_bearing_cd() * 0.01f,
MIN(wp_distance, UINT16_MAX), MIN(control_mode->get_distance_to_destination(), UINT16_MAX),
0, 0,
groundspeed_error, control_mode->speed_error(),
nav_controller->crosstrack_error()); nav_controller->crosstrack_error());
} }

2
APMrover2/Log.cpp
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@ -275,7 +275,7 @@ void Rover::Log_Write_Nav_Tuning()
LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG), LOG_PACKET_HEADER_INIT(LOG_NTUN_MSG),
time_us : AP_HAL::micros64(), time_us : AP_HAL::micros64(),
yaw : static_cast<uint16_t>(ahrs.yaw_sensor), yaw : static_cast<uint16_t>(ahrs.yaw_sensor),
wp_distance : wp_distance, wp_distance : control_mode->get_distance_to_destination(),
target_bearing_cd : static_cast<uint16_t>(fabsf(nav_controller->target_bearing_cd())), target_bearing_cd : static_cast<uint16_t>(fabsf(nav_controller->target_bearing_cd())),
nav_bearing_cd : static_cast<uint16_t>(fabsf(nav_controller->nav_bearing_cd())), nav_bearing_cd : static_cast<uint16_t>(fabsf(nav_controller->nav_bearing_cd())),
throttle : int8_t(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)), throttle : int8_t(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)),

3
APMrover2/Rover.h
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@ -269,9 +269,6 @@ private:
// angle of our next navigation waypoint // angle of our next navigation waypoint
int32_t next_navigation_leg_cd; int32_t next_navigation_leg_cd;
// ground speed error in m/s
float groundspeed_error;
// receiver RSSI // receiver RSSI
uint8_t receiver_rssi; uint8_t receiver_rssi;