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

Plane: Cope with AC_PosControl renaming

This commit is contained in:
Michael du Breuil 2018-09-19 22:44:42 -07:00 committed by WickedShell
parent 65641c3cb7
commit b2ef6b901e
1 changed files with 14 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
ArduPlane/quadplane.cpp
View File

@ -755,8 +755,8 @@ void QuadPlane::run_z_controller(void)
pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z()); pos_control->set_desired_velocity_z(inertial_nav.get_velocity_z());
// initialize vertical speeds and leash lengths // initialize vertical speeds and leash lengths
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_accel_z(pilot_accel_z); pos_control->set_max_accel_z(pilot_accel_z);
// it has been two seconds since we last ran the Z // it has been two seconds since we last ran the Z
// controller. We need to assume the integrator may be way off // controller. We need to assume the integrator may be way off
@ -790,8 +790,8 @@ void QuadPlane::check_attitude_relax(void)
void QuadPlane::init_hover(void) void QuadPlane::init_hover(void)
{ {
// initialize vertical speeds and leash lengths // initialize vertical speeds and leash lengths
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_accel_z(pilot_accel_z); pos_control->set_max_accel_z(pilot_accel_z);
// initialise position and desired velocity // initialise position and desired velocity
set_alt_target_current(); set_alt_target_current();
@ -823,8 +823,8 @@ void QuadPlane::hold_hover(float target_climb_rate)
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// initialize vertical speeds and acceleration // initialize vertical speeds and acceleration
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_accel_z(pilot_accel_z); pos_control->set_max_accel_z(pilot_accel_z);
// call attitude controller // call attitude controller
multicopter_attitude_rate_update(get_desired_yaw_rate_cds()); multicopter_attitude_rate_update(get_desired_yaw_rate_cds());
@ -855,8 +855,8 @@ void QuadPlane::init_loiter(void)
loiter_nav->init_target(); loiter_nav->init_target();
// initialize vertical speed and acceleration // initialize vertical speed and acceleration
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_accel_z(pilot_accel_z); pos_control->set_max_accel_z(pilot_accel_z);
// initialise position and desired velocity // initialise position and desired velocity
set_alt_target_current(); set_alt_target_current();
@ -984,8 +984,8 @@ void QuadPlane::control_loiter()
motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
// initialize vertical speed and acceleration // initialize vertical speed and acceleration
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_accel_z(pilot_accel_z); pos_control->set_max_accel_z(pilot_accel_z);
// process pilot's roll and pitch input // process pilot's roll and pitch input
loiter_nav->set_pilot_desired_acceleration(plane.channel_roll->get_control_in(), loiter_nav->set_pilot_desired_acceleration(plane.channel_roll->get_control_in(),
@ -1970,8 +1970,8 @@ void QuadPlane::setup_target_position(void)
last_loiter_ms = now; last_loiter_ms = now;
// setup vertical speed and acceleration // setup vertical speed and acceleration
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_accel_z(pilot_accel_z); pos_control->set_max_accel_z(pilot_accel_z);
} }
/* /*
@ -2129,8 +2129,8 @@ bool QuadPlane::do_vtol_takeoff(const AP_Mission::Mission_Command& cmd)
loiter_nav->init_target(); loiter_nav->init_target();
// initialize vertical speed and acceleration // initialize vertical speed and acceleration
pos_control->set_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max); pos_control->set_max_speed_z(-pilot_velocity_z_max, pilot_velocity_z_max);
pos_control->set_accel_z(pilot_accel_z); pos_control->set_max_accel_z(pilot_accel_z);
// initialise position and desired velocity // initialise position and desired velocity
set_alt_target_current(); set_alt_target_current();