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AP_Landing: change TRIM_ARSPD_CM to AIRSPEED_CRUISE

This commit is contained in:
Andrew Tridgell 2024-01-18 13:34:22 +11:00
parent 426f645f5e
commit ed13b97526
3 changed files with 7 additions and 7 deletions
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2
libraries/AP_Landing/AP_Landing.cpp
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@ -555,7 +555,7 @@ int32_t AP_Landing::get_target_airspeed_cm(void)
{ {
if (!flags.in_progress) { if (!flags.in_progress) {
// not landing, use regular cruise airspeed // not landing, use regular cruise airspeed
return aparm.airspeed_cruise_cm; return aparm.airspeed_cruise*100;
} }
switch (type) { switch (type) {

2
libraries/AP_Landing/AP_Landing_Deepstall.cpp
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@ -429,7 +429,7 @@ int32_t AP_Landing_Deepstall::get_target_airspeed_cm(void) const
stage == DEEPSTALL_STAGE_LAND) { stage == DEEPSTALL_STAGE_LAND) {
return landing.pre_flare_airspeed * 100; return landing.pre_flare_airspeed * 100;
} else { } else {
return landing.aparm.airspeed_cruise_cm; return landing.aparm.airspeed_cruise*100;
} }
} }

10
libraries/AP_Landing/AP_Landing_Slope.cpp
View File

@ -132,7 +132,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n
// been set for landing. We don't do this till ground // been set for landing. We don't do this till ground
// speed drops below 3.0 m/s as otherwise we will change // speed drops below 3.0 m/s as otherwise we will change
// target speeds too early. // target speeds too early.
aparm.airspeed_cruise_cm.load(); aparm.airspeed_cruise.load();
aparm.min_gndspeed_cm.load(); aparm.min_gndspeed_cm.load();
aparm.throttle_cruise.load(); aparm.throttle_cruise.load();
} }
@ -345,15 +345,15 @@ int32_t AP_Landing::type_slope_get_target_airspeed_cm(void)
// pre-flare airspeeds. Also increase for head-winds // pre-flare airspeeds. Also increase for head-winds
const float land_airspeed = tecs_Controller->get_land_airspeed(); const float land_airspeed = tecs_Controller->get_land_airspeed();
int32_t target_airspeed_cm = aparm.airspeed_cruise_cm; int32_t target_airspeed_cm = aparm.airspeed_cruise*100;
if (land_airspeed >= 0) { if (land_airspeed >= 0) {
target_airspeed_cm = land_airspeed * 100; target_airspeed_cm = land_airspeed * 100;
} else { } else {
target_airspeed_cm = 0.5 * (aparm.airspeed_cruise_cm * 0.01 + aparm.airspeed_min); target_airspeed_cm = 100 * 0.5 * (aparm.airspeed_cruise + aparm.airspeed_min);
} }
switch (type_slope_stage) { switch (type_slope_stage) {
case SlopeStage::NORMAL: case SlopeStage::NORMAL:
target_airspeed_cm = aparm.airspeed_cruise_cm; target_airspeed_cm = aparm.airspeed_cruise*100;
break; break;
case SlopeStage::APPROACH: case SlopeStage::APPROACH:
break; break;
@ -370,7 +370,7 @@ int32_t AP_Landing::type_slope_get_target_airspeed_cm(void)
const float head_wind_comp = constrain_float(wind_comp, 0.0f, 100.0f)*0.01; const float head_wind_comp = constrain_float(wind_comp, 0.0f, 100.0f)*0.01;
const int32_t head_wind_compensation_cm = ahrs.head_wind() * head_wind_comp * 100; const int32_t head_wind_compensation_cm = ahrs.head_wind() * head_wind_comp * 100;
const uint32_t max_airspeed_cm = AP_Landing::allow_max_airspeed_on_land() ? aparm.airspeed_max*100 : aparm.airspeed_cruise_cm; const uint32_t max_airspeed_cm = AP_Landing::allow_max_airspeed_on_land() ? aparm.airspeed_max*100 : aparm.airspeed_cruise*100;
return constrain_int32(target_airspeed_cm + head_wind_compensation_cm, target_airspeed_cm, max_airspeed_cm); return constrain_int32(target_airspeed_cm + head_wind_compensation_cm, target_airspeed_cm, max_airspeed_cm);