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Copter: integrate init_loiter_target name change

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This commit is contained in:
Randy Mackay 2014-05-15 22:19:18 +09:00
parent 597d5227f5
commit d5a0ca4f3c
4 changed files with 5 additions and 5 deletions
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2
ArduCopter/control_auto.pde
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@ -252,7 +252,7 @@ static void auto_land_start(const Vector3f& destination)
auto_mode = Auto_Land;
// initialise loiter target destination
wp_nav.set_loiter_target(destination);
wp_nav.init_loiter_target(destination);
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();

2
ArduCopter/control_hybrid.pde
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@ -399,7 +399,7 @@ static void hybrid_run()
hybrid.pitch_mode = HYBRID_BRAKE_TO_LOITER;
hybrid.brake_to_loiter_timer = HYBRID_BRAKE_TO_LOITER_TIMER;
// init loiter controller
wp_nav.set_loiter_target(inertial_nav.get_position(), hybrid.loiter_reset_I); // (false) to avoid I_term reset. In original code, velocity(0,0,0) was used instead of current velocity: wp_nav.init_loiter_target(inertial_nav.get_position(), Vector3f(0,0,0));
wp_nav.init_loiter_target(inertial_nav.get_position(), hybrid.loiter_reset_I); // (false) to avoid I_term reset. In original code, velocity(0,0,0) was used instead of current velocity: wp_nav.init_loiter_target(inertial_nav.get_position(), Vector3f(0,0,0));
// at this stage, we are going to run update_loiter that will reset I_term once. From now, we ensure next time that we will enter loiter and update it, I_term won't be reset anymore
hybrid.loiter_reset_I = false;
// set delay to start of wind compensation estimate updates

2
ArduCopter/control_land.pde
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@ -13,7 +13,7 @@ static bool land_init(bool ignore_checks)
// set target to stopping point
Vector3f stopping_point;
wp_nav.get_loiter_stopping_point_xy(stopping_point);
wp_nav.set_loiter_target(stopping_point);
wp_nav.init_loiter_target(stopping_point);
}
// initialize vertical speeds and leash lengths

4
ArduCopter/control_rtl.pde
View File

@ -236,7 +236,7 @@ static void rtl_descent_start()
rtl_state_complete = false;
// Set wp navigation target to above home
wp_nav.set_loiter_target(wp_nav.get_wp_destination());
wp_nav.init_loiter_target(wp_nav.get_wp_destination());
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();
@ -295,7 +295,7 @@ static void rtl_land_start()
rtl_state_complete = false;
// Set wp navigation target to above home
wp_nav.set_loiter_target(wp_nav.get_wp_destination());
wp_nav.init_loiter_target(wp_nav.get_wp_destination());
// initialise altitude target to stopping point
pos_control.set_target_to_stopping_point_z();