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Copter: rename WP_TKOFF_NAV_ALT to WP_NAVALT_MIN 

this is in preparation for using the same parameter for landing as
well
This commit is contained in:
Andrew Tridgell 2016-08-15 13:57:38 +10:00
parent 8f1f9481eb
commit 89c10a2db9
5 changed files with 11 additions and 11 deletions
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8
ArduCopter/Parameters.cpp
View File

@ -963,12 +963,12 @@ const AP_Param::Info Copter::var_info[] = {
*/
const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Param: TKOFF_NAV_ALT
// @DisplayName: Takeoff navigation altitude
// @Description: This is the altitude in meters above the takeoff point that attitude changes for navigation can begin
// @Param: WP_NAVALT_MIN
// @DisplayName: Minimum navigation altitude
// @Description: This is the altitude in meters above which for navigation can begin. This applies in auto takeoff and auto landing.
// @Range: 0 5
// @User: Standard
AP_GROUPINFO("WP_TKOFF_NAV_ALT", 1, ParametersG2, takeoff_nav_alt, 0),
AP_GROUPINFO("WP_NAVALT_MIN", 1, ParametersG2, wp_navalt_min, 0),
// @Group: BTN_
// @Path: ../libraries/AP_Button/AP_Button.cpp

2
ArduCopter/Parameters.h
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@ -546,7 +546,7 @@ public:
static const struct AP_Param::GroupInfo var_info[];
// altitude at which nav control can start in takeoff
AP_Float takeoff_nav_alt;
AP_Float wp_navalt_min;
// button checking
AP_Button button;

2
ArduCopter/control_auto.cpp
View File

@ -139,7 +139,7 @@ void Copter::auto_takeoff_start(const Location& dest_loc)
// clear i term when we're taking off
set_throttle_takeoff();
// get initial alt for TKOFF_NAV_ALT
// get initial alt for WP_NAVALT_MIN
auto_takeoff_set_start_alt();
}

2
ArduCopter/control_guided.cpp
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@ -74,7 +74,7 @@ bool Copter::guided_takeoff_start(float final_alt_above_home)
// clear i term when we're taking off
set_throttle_takeoff();
// get initial alt for WP_TKOFF_NAV_ALT
// get initial alt for WP_NAVALT_MIN
auto_takeoff_set_start_alt();
return true;

8
ArduCopter/takeoff.cpp
View File

@ -150,21 +150,21 @@ void Copter::auto_takeoff_set_start_alt(void)
auto_takeoff_no_nav_alt_cm = inertial_nav.get_altitude();
if (!motors.armed() || !ap.auto_armed || !motors.get_interlock() || ap.land_complete) {
// we are not flying, add the takeoff_nav_alt
auto_takeoff_no_nav_alt_cm += g2.takeoff_nav_alt * 100;
// we are not flying, add the wp_navalt_min
auto_takeoff_no_nav_alt_cm += g2.wp_navalt_min * 100;
}
}
/*
call attitude controller for automatic takeoff, limiting roll/pitch
if below takeoff_nav_alt
if below wp_navalt_min
*/
void Copter::auto_takeoff_attitude_run(float target_yaw_rate)
{
float nav_roll, nav_pitch;
if (g2.takeoff_nav_alt > 0 && inertial_nav.get_altitude() < auto_takeoff_no_nav_alt_cm) {
if (g2.wp_navalt_min > 0 && inertial_nav.get_altitude() < auto_takeoff_no_nav_alt_cm) {
// we haven't reached the takeoff navigation altitude yet
nav_roll = 0;
nav_pitch = 0;