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Copter: replace use of TERRAIN_MARGIN with WPNAV_TER_MARGIN

This commit is contained in:
Randy Mackay 2021-07-20 13:40:29 +09:00
parent fb5c458132
commit d39581f996
5 changed files with 1 additions and 26 deletions
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1
ArduCopter/Copter.h
View File

@ -884,7 +884,6 @@ private:
// terrain.cpp // terrain.cpp
void terrain_update(); void terrain_update();
void terrain_logging(); void terrain_logging();
float get_terrain_margin() const;
// tuning.cpp // tuning.cpp
void tuning(); void tuning();

10
ArduCopter/Parameters.cpp
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@ -1079,16 +1079,6 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
AP_GROUPINFO("GUID_TIMEOUT", 46, ParametersG2, guided_timeout, 3.0), AP_GROUPINFO("GUID_TIMEOUT", 46, ParametersG2, guided_timeout, 3.0),
#endif #endif
#if AP_TERRAIN_AVAILABLE
// @Param: TERRAIN_MARGIN
// @DisplayName: Terrain following altitude margin
// @Description: Terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)
// @Units: m
// @Range: 0.1 100
// @User: Advanced
AP_GROUPINFO("TERRAIN_MARGIN", 47, ParametersG2, terrain_margin, 10.0),
#endif
AP_GROUPEND AP_GROUPEND
}; };

4
ArduCopter/Parameters.h
View File

@ -652,10 +652,6 @@ public:
#if MODE_GUIDED_ENABLED == ENABLED #if MODE_GUIDED_ENABLED == ENABLED
AP_Float guided_timeout; AP_Float guided_timeout;
#endif #endif
#if AP_TERRAIN_AVAILABLE
AP_Float terrain_margin;
#endif
}; };
extern const AP_Param::Info var_info[]; extern const AP_Param::Info var_info[];

2
ArduCopter/mode_guided.cpp
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@ -553,7 +553,7 @@ void ModeGuided::pos_control_run()
float pos_offset_z_buffer = 0.0; // Vertical buffer size in m float pos_offset_z_buffer = 0.0; // Vertical buffer size in m
if (guided_pos_terrain_alt) { if (guided_pos_terrain_alt) {
pos_offset_z_buffer = MIN(copter.get_terrain_margin() * 100.0, 0.5 * fabsf(guided_pos_target_cm.z)); pos_offset_z_buffer = MIN(copter.wp_nav->get_terrain_margin() * 100.0, 0.5 * fabsf(guided_pos_target_cm.z));
} }
pos_control->input_pos_xyz(guided_pos_target_cm, terr_offset, pos_offset_z_buffer); pos_control->input_pos_xyz(guided_pos_target_cm, terr_offset, pos_offset_z_buffer);

10
ArduCopter/terrain.cpp
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@ -26,13 +26,3 @@ void Copter::terrain_logging()
} }
#endif #endif
} }
// return terrain following altitude margin. Vehicle will stop if distance from target altitude is larger than this margin (in meters)
float Copter::get_terrain_margin() const
{
#if AP_TERRAIN_AVAILABLE
return MAX(g2.terrain_margin.get(), 0.1);
#else
return 10;
#endif
}