mirror of https://github.com/ArduPilot/ardupilot
AC_WPNav: move definitions to .cpp file
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@ -3,6 +3,16 @@
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extern const AP_HAL::HAL& hal;
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extern const AP_HAL::HAL& hal;
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// maximum velocities and accelerations
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#define WPNAV_ACCELERATION 250.0f // maximum horizontal acceleration in cm/s/s that wp navigation will request
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#define WPNAV_WP_SPEED 1000.0f // default horizontal speed between waypoints in cm/s
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#define WPNAV_WP_SPEED_MIN 20.0f // minimum horizontal speed between waypoints in cm/s
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#define WPNAV_WP_RADIUS 200.0f // default waypoint radius in cm
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#define WPNAV_WP_RADIUS_MIN 5.0f // minimum waypoint radius in cm
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#define WPNAV_WP_SPEED_UP 250.0f // default maximum climb velocity
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#define WPNAV_WP_SPEED_DOWN 150.0f // default maximum descent velocity
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#define WPNAV_WP_ACCEL_Z_DEFAULT 100.0f // default vertical acceleration between waypoints in cm/s/s
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const AP_Param::GroupInfo AC_WPNav::var_info[] = {
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const AP_Param::GroupInfo AC_WPNav::var_info[] = {
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// index 0 was used for the old orientation matrix
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// index 0 was used for the old orientation matrix
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@ -12,18 +12,6 @@
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#include <AP_Terrain/AP_Terrain.h>
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#include <AP_Terrain/AP_Terrain.h>
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#include <AC_Avoidance/AC_Avoid.h> // Stop at fence library
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#include <AC_Avoidance/AC_Avoid.h> // Stop at fence library
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// maximum velocities and accelerations
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#define WPNAV_ACCELERATION 250.0f // maximum horizontal acceleration in cm/s/s that wp navigation will request
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#define WPNAV_WP_SPEED 1000.0f // default horizontal speed between waypoints in cm/s
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#define WPNAV_WP_SPEED_MIN 20.0f // minimum horizontal speed between waypoints in cm/s
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#define WPNAV_WP_RADIUS 200.0f // default waypoint radius in cm
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#define WPNAV_WP_RADIUS_MIN 5.0f // minimum waypoint radius in cm
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#define WPNAV_WP_SPEED_UP 250.0f // default maximum climb velocity
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#define WPNAV_WP_SPEED_DOWN 150.0f // default maximum descent velocity
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#define WPNAV_WP_ACCEL_Z_DEFAULT 100.0f // default vertical acceleration between waypoints in cm/s/s
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class AC_WPNav
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class AC_WPNav
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{
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{
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public:
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public:
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