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Copter: remove wrapper for get_avoidance_adjusted_climbrate

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Only the modes are interested in this - there's no point having it on
the Copter object.
This commit is contained in:
Peter Barker 2020-06-16 16:50:37 +10:00 committed by Randy Mackay
parent 67c152cef2
commit afa153fb6f
6 changed files with 17 additions and 21 deletions
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11
ArduCopter/Attitude.cpp
View File

@ -118,17 +118,6 @@ float Copter::get_non_takeoff_throttle()
return MAX(0,motors->get_throttle_hover()/2.0f);
}
// get target climb rate reduced to avoid obstacles and altitude fence
float Copter::get_avoidance_adjusted_climbrate(float target_rate)
{
#if AC_AVOID_ENABLED == ENABLED
avoid.adjust_velocity_z(pos_control->get_pos_z_p().kP(), pos_control->get_max_accel_z(), target_rate, G_Dt);
return target_rate;
#else
return target_rate;
#endif
}
// set_accel_throttle_I_from_pilot_throttle - smoothes transition from pilot controlled throttle to autopilot throttle
void Copter::set_accel_throttle_I_from_pilot_throttle()
{

1
ArduCopter/Copter.h
View File

@ -662,7 +662,6 @@ private:
void update_throttle_hover();
float get_pilot_desired_climb_rate(float throttle_control);
float get_non_takeoff_throttle();
float get_avoidance_adjusted_climbrate(float target_rate);
void set_accel_throttle_I_from_pilot_throttle();
void rotate_body_frame_to_NE(float &x, float &y);
uint16_t get_pilot_speed_dn();

15
ArduCopter/mode.cpp
View File

@ -718,6 +718,16 @@ float Mode::get_pilot_desired_throttle() const
return throttle_out;
}
float Mode::get_avoidance_adjusted_climbrate(float target_rate)
{
#if AC_AVOID_ENABLED == ENABLED
AP::ac_avoid()->adjust_velocity_z(pos_control->get_pos_z_p().kP(), pos_control->get_max_accel_z(), target_rate, G_Dt);
return target_rate;
#else
return target_rate;
#endif
}
Mode::AltHoldModeState Mode::get_alt_hold_state(float target_climb_rate_cms)
{
// Alt Hold State Machine Determination
@ -815,11 +825,6 @@ void Mode::set_throttle_takeoff()
pos_control->init_takeoff();
}
float Mode::get_avoidance_adjusted_climbrate(float target_rate)
{
return copter.get_avoidance_adjusted_climbrate(target_rate);
}
uint16_t Mode::get_pilot_speed_dn()
{
return copter.get_pilot_speed_dn();

5
ArduCopter/mode.h
View File

@ -86,6 +86,10 @@ public:
float get_pilot_desired_yaw_rate(int16_t stick_angle);
float get_pilot_desired_throttle() const;
// returns climb target_rate reduced to avoid obstacles and
// altitude fence
float get_avoidance_adjusted_climbrate(float target_rate);
const Vector3f& get_desired_velocity() {
// note that position control isn't used in every mode, so
// this may return bogus data:
@ -245,7 +249,6 @@ public:
void set_land_complete(bool b);
GCS_Copter &gcs();
void set_throttle_takeoff(void);
float get_avoidance_adjusted_climbrate(float target_rate);
uint16_t get_pilot_speed_dn(void);
// end pass-through functions

2
ArduCopter/mode_autotune.cpp
View File

@ -84,7 +84,7 @@ float AutoTune::get_pilot_desired_climb_rate_cms(void) const
float target_climb_rate = copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in());
// get avoidance adjusted climb rate
target_climb_rate = copter.get_avoidance_adjusted_climbrate(target_climb_rate);
target_climb_rate = copter.mode_autotune.get_avoidance_adjusted_climbrate(target_climb_rate);
return target_climb_rate;
}

4
ArduCopter/mode_flowhold.cpp
View File

@ -286,7 +286,7 @@ void ModeFlowHold::run()
takeoff.get_climb_rates(target_climb_rate, takeoff_climb_rate);
// get avoidance adjusted climb rate
target_climb_rate = copter.get_avoidance_adjusted_climbrate(target_climb_rate);
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
// call position controller
copter.pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, copter.G_Dt, false);
@ -309,7 +309,7 @@ void ModeFlowHold::run()
target_climb_rate = copter.surface_tracking.adjust_climb_rate(target_climb_rate);
// get avoidance adjusted climb rate
target_climb_rate = copter.get_avoidance_adjusted_climbrate(target_climb_rate);
target_climb_rate = get_avoidance_adjusted_climbrate(target_climb_rate);
copter.pos_control->set_alt_target_from_climb_rate_ff(target_climb_rate, G_Dt, false);
break;