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Copter: auto climb and descent params removed

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These params now reside in the AC_WPNav library
This commit is contained in:
Randy Mackay 2013-04-18 14:52:21 +09:00
parent 764853bd56
commit f5955d8915
4 changed files with 4 additions and 24 deletions
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2
ArduCopter/ArduCopter.pde
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@ -1895,7 +1895,7 @@ void update_throttle_mode(void)
case THROTTLE_AUTO: case THROTTLE_AUTO:
// auto pilot altitude controller with target altitude held in wp_nav.get_desired_alt() // auto pilot altitude controller with target altitude held in wp_nav.get_desired_alt()
if(ap.auto_armed) { if(ap.auto_armed) {
get_throttle_althold_with_slew(wp_nav.get_desired_alt(), g.auto_velocity_z_min, g.auto_velocity_z_max); get_throttle_althold_with_slew(wp_nav.get_desired_alt(), -wp_nav.get_descent_velocity(), wp_nav.get_climb_velocity());
set_target_alt_for_reporting(wp_nav.get_desired_alt()); // To-Do: return get_destination_alt if we are flying to a waypoint set_target_alt_for_reporting(wp_nav.get_desired_alt()); // To-Do: return get_destination_alt if we are flying to a waypoint
} }
break; break;

2
ArduCopter/Attitude.pde
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@ -1171,7 +1171,7 @@ get_throttle_land()
{ {
// if we are above 10m and the sonar does not sense anything perform regular alt hold descent // if we are above 10m and the sonar does not sense anything perform regular alt hold descent
if (current_loc.alt >= LAND_START_ALT && !(g.sonar_enabled && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) { if (current_loc.alt >= LAND_START_ALT && !(g.sonar_enabled && sonar_alt_health >= SONAR_ALT_HEALTH_MAX)) {
get_throttle_althold_with_slew(LAND_START_ALT, g.auto_velocity_z_min, -abs(g.land_speed)); get_throttle_althold_with_slew(LAND_START_ALT, -wp_nav.get_descent_velocity(), -abs(g.land_speed));
}else{ }else{
get_throttle_rate_stabilized(-abs(g.land_speed)); get_throttle_rate_stabilized(-abs(g.land_speed));

6
ArduCopter/Parameters.h
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@ -215,8 +215,8 @@ public:
k_param_circle_radius, k_param_circle_radius,
k_param_waypoint_speed_max, // remove k_param_waypoint_speed_max, // remove
k_param_land_speed, k_param_land_speed,
k_param_auto_velocity_z_min, k_param_auto_velocity_z_min, // remove
k_param_auto_velocity_z_max, // 219 k_param_auto_velocity_z_max, // remove - 219
// //
// 220: PI/D Controllers // 220: PI/D Controllers
@ -291,8 +291,6 @@ public:
AP_Int16 circle_radius; AP_Int16 circle_radius;
AP_Int32 rtl_loiter_time; AP_Int32 rtl_loiter_time;
AP_Int16 land_speed; AP_Int16 land_speed;
AP_Int16 auto_velocity_z_min; // minimum vertical velocity (i.e. maximum descent) the autopilot may request
AP_Int16 auto_velocity_z_max; // maximum vertical velocity the autopilot may request
AP_Int16 pilot_velocity_z_max; // maximum vertical velocity the pilot may request AP_Int16 pilot_velocity_z_max; // maximum vertical velocity the pilot may request

18
ArduCopter/Parameters.pde
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@ -228,24 +228,6 @@ const AP_Param::Info var_info[] PROGMEM = {
// @User: Standard // @User: Standard
GSCALAR(land_speed, "LAND_SPEED", LAND_SPEED), GSCALAR(land_speed, "LAND_SPEED", LAND_SPEED),
// @Param: AUTO_VELZ_MIN
// @DisplayName: Autopilot's min vertical speed (max descent) in cm/s
// @Description: The minimum vertical velocity (i.e. descent speed) the autopilot may request in cm/s
// @Units: Centimeters/Second
// @Range: -500 -50
// @Increment: 10
// @User: Standard
GSCALAR(auto_velocity_z_min, "AUTO_VELZ_MIN", AUTO_VELZ_MIN),
// @Param: AUTO_VELZ_MAX
// @DisplayName: Auto pilot's max vertical speed in cm/s
// @Description: The maximum vertical velocity the autopilot may request in cm/s
// @Units: Centimeters/Second
// @Range: 50 500
// @Increment: 10
// @User: Standard
GSCALAR(auto_velocity_z_max, "AUTO_VELZ_MAX", AUTO_VELZ_MAX),
// @Param: PILOT_VELZ_MAX // @Param: PILOT_VELZ_MAX
// @DisplayName: Pilot maximum vertical speed // @DisplayName: Pilot maximum vertical speed
// @Description: The maximum vertical velocity the pilot may request in cm/s // @Description: The maximum vertical velocity the pilot may request in cm/s