Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_AttitudeControl: AC_PosControl: Change input_pos_xyz name

This commit is contained in:
Leonard Hall 2021-05-31 10:27:52 +09:30 committed by Randy Mackay
parent a57102b161
commit 91e22680a5
2 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AC_AttitudeControl/AC_PosControl.cpp
View File

@ -328,13 +328,13 @@ AC_PosControl::AC_PosControl(AP_AHRS_View& ahrs, const AP_InertialNav& inav,
/// 3D position shaper
///
/// input_pos_vel_accel_xyz - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration.
/// input_pos_xyz - calculate a jerk limited path from the current position, velocity and acceleration to an input position.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_xy and time constant.
/// The time constant defines the acceleration error decay in the kinematic path as the system approaches constant acceleration.
/// The time constant also defines the time taken to achieve the maximum acceleration.
/// The function alters the input velocity to be the velocity that the system could reach zero acceleration in the minimum time.
void AC_PosControl::input_pos_vel_accel_xyz(const Vector3p& pos)
void AC_PosControl::input_pos_xyz(const Vector3p& pos)
{
Vector3f dest_vector = (pos - _pos_target).tofloat();

4
libraries/AC_AttitudeControl/AC_PosControl.h
View File

@ -54,10 +54,10 @@ public:
/// 3D position shaper
///
/// input_pos_vel_accel_xyz - calculate a jerk limited path from the current position, velocity and acceleration to an input position velocity and acceleration.
/// input_pos_xyz - calculate a jerk limited path from the current position, velocity and acceleration to an input position.
/// The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
/// The kinematic path is constrained by the maximum acceleration and time constant set using the function set_max_speed_accel_xy and time constant.
void input_pos_vel_accel_xyz(const Vector3p& pos);
void input_pos_xyz(const Vector3p& pos);
///
/// Lateral position controller