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AC_WPNav: Cope with AC_PosControl renaming

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Michael du Breuil 2018-09-19 22:44:20 -07:00 committed by WickedShell
parent 1d13aff711
commit d3bee76f0b
2 changed files with 17 additions and 17 deletions
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16
libraries/AC_WPNav/AC_Loiter.cpp
View File

@ -91,8 +91,8 @@ void AC_Loiter::init_target(const Vector3f& position)
sanity_check_params();
// initialise pos controller speed, acceleration
_pos_control.set_speed_xy(LOITER_VEL_CORRECTION_MAX);
_pos_control.set_accel_xy(_accel_cmss);
_pos_control.set_max_speed_xy(LOITER_VEL_CORRECTION_MAX);
_pos_control.set_max_accel_xy(_accel_cmss);
// initialise desired acceleration and angles to zero to remain on station
_predicted_accel.zero();
@ -119,8 +119,8 @@ void AC_Loiter::init_target()
sanity_check_params();
// initialise pos controller speed and acceleration
_pos_control.set_speed_xy(LOITER_VEL_CORRECTION_MAX);
_pos_control.set_accel_xy(_accel_cmss);
_pos_control.set_max_speed_xy(LOITER_VEL_CORRECTION_MAX);
_pos_control.set_max_accel_xy(_accel_cmss);
_pos_control.set_leash_length_xy(LOITER_POS_CORRECTION_MAX);
_predicted_accel = _desired_accel;
@ -210,8 +210,8 @@ void AC_Loiter::update(float ekfGndSpdLimit, float ekfNavVelGainScaler)
}
// initialise pos controller speed and acceleration
_pos_control.set_speed_xy(_speed_cms);
_pos_control.set_accel_xy(_accel_cmss);
_pos_control.set_max_speed_xy(_speed_cms);
_pos_control.set_max_accel_xy(_accel_cmss);
calc_desired_velocity(dt,ekfGndSpdLimit);
_pos_control.update_xy_controller(ekfNavVelGainScaler);
@ -240,8 +240,8 @@ void AC_Loiter::calc_desired_velocity(float nav_dt, float ekfGndSpdLimit)
return;
}
_pos_control.set_speed_xy(gnd_speed_limit_cms);
_pos_control.set_accel_xy(_accel_cmss);
_pos_control.set_max_speed_xy(gnd_speed_limit_cms);
_pos_control.set_max_accel_xy(_accel_cmss);
_pos_control.set_leash_length_xy(LOITER_POS_CORRECTION_MAX);
// get loiters desired velocity from the position controller where it is being stored.

18
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -108,8 +108,8 @@ void AC_WPNav::init_brake_target(float accel_cmss)
_pos_control.init_xy_controller();
// initialise pos controller speed and acceleration
_pos_control.set_speed_xy(curr_vel.length());
_pos_control.set_accel_xy(accel_cmss);
_pos_control.set_max_speed_xy(curr_vel.length());
_pos_control.set_max_accel_xy(accel_cmss);
_pos_control.calc_leash_length_xy();
// set target position
@ -148,10 +148,10 @@ void AC_WPNav::wp_and_spline_init()
_pos_control.set_desired_velocity_xy(0.0f, 0.0f);
// initialise position controller speed and acceleration
_pos_control.set_speed_xy(_wp_speed_cms);
_pos_control.set_accel_xy(_wp_accel_cmss);
_pos_control.set_speed_z(-_wp_speed_down_cms, _wp_speed_up_cms);
_pos_control.set_accel_z(_wp_accel_z_cmss);
_pos_control.set_max_speed_xy(_wp_speed_cms);
_pos_control.set_max_accel_xy(_wp_accel_cmss);
_pos_control.set_max_speed_z(-_wp_speed_down_cms, _wp_speed_up_cms);
_pos_control.set_max_accel_z(_wp_accel_z_cmss);
_pos_control.calc_leash_length_xy();
_pos_control.calc_leash_length_z();
@ -165,7 +165,7 @@ void AC_WPNav::set_speed_xy(float speed_cms)
// range check new target speed and update position controller
if (speed_cms >= WPNAV_WP_SPEED_MIN) {
_wp_speed_cms = speed_cms;
_pos_control.set_speed_xy(_wp_speed_cms);
_pos_control.set_max_speed_xy(_wp_speed_cms);
// flag that wp leash must be recalculated
_flags.recalc_wp_leash = true;
}
@ -507,8 +507,8 @@ bool AC_WPNav::update_wpnav()
// allow the accel and speed values to be set without changing
// out of auto mode. This makes it easier to tune auto flight
_pos_control.set_accel_xy(_wp_accel_cmss);
_pos_control.set_accel_z(_wp_accel_z_cmss);
_pos_control.set_max_accel_xy(_wp_accel_cmss);
_pos_control.set_max_accel_z(_wp_accel_z_cmss);
// advance the target if necessary
if (!advance_wp_target_along_track(dt)) {