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AC_Loiter: move defines to cpp

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Randy Mackay 2018-04-04 09:35:12 +09:00
parent 757a35f3ba
commit f6cf52a748
2 changed files with 10 additions and 10 deletions
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10
libraries/AC_WPNav/AC_Loiter.cpp
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@ -3,6 +3,16 @@
extern const AP_HAL::HAL& hal;
#define LOITER_SPEED_DEFAULT 1250.0f // default loiter speed in cm/s
#define LOITER_SPEED_MIN 20.0f // minimum loiter speed in cm/s
#define LOITER_ACCEL_MAX_DEFAULT 500.0f // default acceleration in loiter mode
#define LOITER_BRAKE_ACCEL_DEFAULT 250.0f // minimum acceleration in loiter mode
#define LOITER_BRAKE_JERK_DEFAULT 500.0f // maximum jerk in cm/s/s/s in loiter mode
#define LOITER_BRAKE_START_DELAY_DEFAULT 1.0f // delay (in seconds) before loiter braking begins after sticks are released
#define LOITER_VEL_CORRECTION_MAX 200.0f // max speed used to correct position errors in loiter
#define LOITER_POS_CORRECTION_MAX 200.0f // max position error in loiter
#define LOITER_ACTIVE_TIMEOUT_MS 200 // loiter controller is considered active if it has been called within the past 200ms (0.2 seconds)
const AP_Param::GroupInfo AC_Loiter::var_info[] = {
// @Param: ANG_MAX

10
libraries/AC_WPNav/AC_Loiter.h
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@ -9,16 +9,6 @@
#include <AC_AttitudeControl/AC_AttitudeControl.h>
#include <AC_Avoidance/AC_Avoid.h>
#define LOITER_SPEED_DEFAULT 1250.0f // default loiter speed in cm/s
#define LOITER_SPEED_MIN 20.0f // minimum loiter speed in cm/s
#define LOITER_ACCEL_MAX_DEFAULT 500.0f // default acceleration in loiter mode
#define LOITER_BRAKE_ACCEL_DEFAULT 250.0f // minimum acceleration in loiter mode
#define LOITER_BRAKE_JERK_DEFAULT 500.0f // maximum jerk in cm/s/s/s in loiter mode
#define LOITER_BRAKE_START_DELAY_DEFAULT 1.0f // delay (in seconds) before loiter braking begins after sticks are released
#define LOITER_VEL_CORRECTION_MAX 200.0f // max speed used to correct position errors in loiter
#define LOITER_POS_CORRECTION_MAX 200.0f // max position error in loiter
#define LOITER_ACTIVE_TIMEOUT_MS 200 // loiter controller is considered active if it has been called within the past 200ms (0.2 seconds)
class AC_Loiter
{
public: