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AC_WPNav: rename stop to brake

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This commit is contained in:
Randy Mackay 2015-05-17 12:22:00 +09:00
parent 542e5fb54c
commit 0077cac1b7
2 changed files with 9 additions and 9 deletions
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8
libraries/AC_WPNav/AC_WPNav.cpp
View File

@ -309,8 +309,8 @@ void AC_WPNav::update_loiter(float ekfGndSpdLimit, float ekfNavVelGainScaler)
}
}
/// init_stop_target - initializes stop position from current position and velocity
void AC_WPNav::init_stop_target(float accel_cmss)
/// init_brake_target - initializes stop position from current position and velocity
void AC_WPNav::init_brake_target(float accel_cmss)
{
const Vector3f& curr_vel = _inav.get_velocity();
Vector3f stopping_point;
@ -329,8 +329,8 @@ void AC_WPNav::init_stop_target(float accel_cmss)
init_loiter_target(stopping_point);
}
// update_stop - run the stop controller - gets called at 400hz
void AC_WPNav::update_stop(float ekfGndSpdLimit, float ekfNavVelGainScaler)
// update_brake - run the stop controller - gets called at 400hz
void AC_WPNav::update_brake(float ekfGndSpdLimit, float ekfNavVelGainScaler)
{
// calculate dt
float dt = _pos_control.time_since_last_xy_update();

10
libraries/AC_WPNav/AC_WPNav.h
View File

@ -95,13 +95,13 @@ public:
void update_loiter(float ekfGndSpdLimit, float ekfNavVelGainScaler);
///
/// stop controller
/// brake controller
///
/// init_stop_target - initialize's loiter position and feed-forward velocity from current pos and velocity
void init_stop_target(float accel_cmss);
/// init_brake_target - initialize's position and feed-forward velocity from current pos and velocity
void init_brake_target(float accel_cmss);
///
/// update_stop - run the stop controller - should be called at 400hz
void update_stop(float ekfGndSpdLimit, float ekfNavVelGainScaler);
/// update_brake - run the brake controller - should be called at 400hz
void update_brake(float ekfGndSpdLimit, float ekfNavVelGainScaler);
///
/// waypoint controller