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Copter: rename get_throttle_surface_tracking to get_surface_tracking_climb_rate

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This commit is contained in:
Jonathan Challinger 2015-04-13 11:03:38 -07:00 committed by Randy Mackay
parent 568e4c4d0e
commit fddaca4cf7
6 changed files with 7 additions and 7 deletions
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4
ArduCopter/Attitude.pde
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@ -225,9 +225,9 @@ static int16_t get_throttle_pre_takeoff(int16_t throttle_control)
return throttle_out;
}
// get_throttle_surface_tracking - hold copter at the desired distance above the ground
// get_surface_tracking_climb_rate - hold copter at the desired distance above the ground
// returns climb rate (in cm/s) which should be passed to the position controller
static float get_throttle_surface_tracking(int16_t target_rate, float current_alt_target, float dt)
static float get_surface_tracking_climb_rate(int16_t target_rate, float current_alt_target, float dt)
{
static uint32_t last_call_ms = 0;
float distance_error;

2
ArduCopter/control_althold.pde
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@ -70,7 +70,7 @@ static void althold_run()
// call throttle controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// call position controller

2
ArduCopter/control_circle.pde
View File

@ -75,7 +75,7 @@ static void circle_run()
// run altitude controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);

2
ArduCopter/control_loiter.pde
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@ -93,7 +93,7 @@ static void loiter_run()
// run altitude controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// update altitude target and call position controller

2
ArduCopter/control_poshold.pde
View File

@ -521,7 +521,7 @@ static void poshold_run()
// throttle control
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// update altitude target and call position controller
pos_control.set_alt_target_from_climb_rate(target_climb_rate, G_Dt);

2
ArduCopter/control_sport.pde
View File

@ -90,7 +90,7 @@ static void sport_run()
// call throttle controller
if (sonar_alt_health >= SONAR_ALT_HEALTH_MAX) {
// if sonar is ok, use surface tracking
target_climb_rate = get_throttle_surface_tracking(target_climb_rate, pos_control.get_alt_target(), G_Dt);
target_climb_rate = get_surface_tracking_climb_rate(target_climb_rate, pos_control.get_alt_target(), G_Dt);
}
// call position controller