aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Copter: integrate WPNAV::set_speed_z split to set_speed_up and set_speed_down

Browse Source
This commit is contained in:
Randy Mackay 2019-01-24 14:02:31 +09:00
parent 717fb4d823
commit 42c7f5ceb4
2 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/GCS_Mavlink.cpp
View File

@ -729,9 +729,9 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
// param4 : unused
if (packet.param2 > 0.0f) {
if (packet.param1 > 2.9f) { // 3 = speed down
copter.wp_nav->set_speed_z(packet.param2 * 100.0f, copter.wp_nav->get_speed_up());
copter.wp_nav->set_speed_down(packet.param2 * 100.0f);
} else if (packet.param1 > 1.9f) { // 2 = speed up
copter.wp_nav->set_speed_z(copter.wp_nav->get_speed_down(), packet.param2 * 100.0f);
copter.wp_nav->set_speed_up(packet.param2 * 100.0f);
} else {
copter.wp_nav->set_speed_xy(packet.param2 * 100.0f);
}

4
ArduCopter/mode_auto.cpp
View File

@ -1355,9 +1355,9 @@ void Copter::ModeAuto::do_change_speed(const AP_Mission::Mission_Command& cmd)
{
if (cmd.content.speed.target_ms > 0) {
if (cmd.content.speed.speed_type == 2) {
copter.wp_nav->set_speed_z(copter.wp_nav->get_speed_down(), cmd.content.speed.target_ms * 100.0f);
copter.wp_nav->set_speed_up(cmd.content.speed.target_ms * 100.0f);
} else if (cmd.content.speed.speed_type == 3) {
copter.wp_nav->set_speed_z(cmd.content.speed.target_ms * 100.0f, copter.wp_nav->get_speed_up());
copter.wp_nav->set_speed_down(cmd.content.speed.target_ms * 100.0f);
} else {
copter.wp_nav->set_speed_xy(cmd.content.speed.target_ms * 100.0f);
}