Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 16:48:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AR_WPNav: remove unused speed_min

Browse Source
This commit is contained in:
Randy Mackay 2022-01-05 20:25:25 +09:00
parent 537874c075
commit a91025fa16
2 changed files with 1 additions and 27 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
libraries/AR_WPNav/AR_WPNav.cpp
View File

@ -53,16 +53,7 @@ const AP_Param::GroupInfo AR_WPNav::var_info[] = {
// 4 was PIVOT_ANGLE
// 5 was PIVOT_RATE
// @Param: SPEED_MIN
// @DisplayName: Waypoint speed minimum
// @Description: Vehicle will not slow below this speed for corners. Should be set to boat's plane speed. Does not apply to pivot turns.
// @Units: m/s
// @Range: 0 100
// @Increment: 0.1
// @User: Standard
AP_GROUPINFO("SPEED_MIN", 6, AR_WPNav, _speed_min, 0),
// 6 was SPEED_MIN
// 7 was PIVOT_DELAY
// @Group: PIVOT_
@ -493,18 +484,6 @@ void AR_WPNav::set_turn_params(float turn_radius, bool pivot_possible)
_pivot.enable(pivot_possible);
}
// adjust speed to ensure it does not fall below value held in SPEED_MIN
// desired_speed should always be positive (or zero)
void AR_WPNav::apply_speed_min(float &desired_speed) const
{
if (!is_positive(_speed_min) || (_speed_min > _speed_max)) {
return;
}
// ensure speed does not fall below minimum
desired_speed = MAX(desired_speed, _speed_min);
}
// calculate the crosstrack error
float AR_WPNav::calc_crosstrack_error(const Location& current_loc) const
{

5
libraries/AR_WPNav/AR_WPNav.h
View File

@ -121,10 +121,6 @@ protected:
// calculate steering and speed to drive along line from origin to destination waypoint
void update_steering_and_speed(const Location &current_loc, float dt);
// adjust speed to ensure it does not fall below value held in SPEED_MIN
// desired_speed should always be positive (or zero)
void apply_speed_min(float &desired_speed) const;
// calculate the crosstrack error (does not rely on L1 controller)
float calc_crosstrack_error(const Location& current_loc) const;
@ -138,7 +134,6 @@ protected:
// parameters
AP_Float _speed_max; // target speed between waypoints in m/s
AP_Float _speed_min; // target speed minimum in m/s. Vehicle will not slow below this speed for corners
AP_Float _radius; // distance in meters from a waypoint when we consider the waypoint has been reached
AR_PivotTurn _pivot; // pivot turn controller
AP_Float _accel_max; // max acceleration. If zero then attitude controller's specified max accel is used