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Plane: : integrate AC_WPNav::get_speed rename to get_default_speed

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This commit is contained in:
Randy Mackay 2019-01-24 14:03:12 +09:00
parent 42c7f5ceb4
commit 4d5e13f1d4
1 changed files with 5 additions and 5 deletions
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10
ArduPlane/quadplane.cpp
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@ -970,7 +970,7 @@ bool QuadPlane::is_flying_vtol(void) const
*/
float QuadPlane::landing_descent_rate_cms(float height_above_ground) const
{
float ret = linear_interpolate(land_speed_cms, wp_nav->get_speed_down(),
float ret = linear_interpolate(land_speed_cms, wp_nav->get_default_speed_down(),
height_above_ground,
land_final_alt, land_final_alt+6);
return ret;
@ -1146,7 +1146,7 @@ float QuadPlane::assist_climb_rate_cms(void) const
climb_rate = plane.g.flybywire_climb_rate * (plane.nav_pitch_cd/(float)plane.aparm.pitch_limit_max_cd);
climb_rate *= plane.get_throttle_input();
}
climb_rate = constrain_float(climb_rate, -wp_nav->get_speed_down(), wp_nav->get_speed_up());
climb_rate = constrain_float(climb_rate, -wp_nav->get_default_speed_down(), wp_nav->get_default_speed_up());
// bring in the demanded climb rate over 2 seconds
const uint32_t ramp_up_time_ms = 2000;
@ -1859,7 +1859,7 @@ void QuadPlane::vtol_position_controller(void)
// approach
// max_speed will control how fast we will fly. It will always decrease
poscontrol.max_speed = MAX(speed_towards_target, wp_nav->get_speed_xy() * 0.01);
poscontrol.max_speed = MAX(speed_towards_target, wp_nav->get_default_speed_xy() * 0.01);
poscontrol.speed_scale = poscontrol.max_speed / MAX(distance, 1);
}
@ -2081,7 +2081,7 @@ void QuadPlane::takeoff_controller(void)
plane.nav_pitch_cd,
get_pilot_input_yaw_rate_cds() + get_weathervane_yaw_rate_cds());
pos_control->set_alt_target_from_climb_rate(wp_nav->get_speed_up(), plane.G_Dt, true);
pos_control->set_alt_target_from_climb_rate(wp_nav->get_default_speed_up(), plane.G_Dt, true);
run_z_controller();
}
@ -2440,7 +2440,7 @@ int8_t QuadPlane::forward_throttle_pct(void)
// add in a component from our current pitch demand. This tends to
// move us to zero pitch. Assume that LIM_PITCH would give us the
// WP nav speed.
fwd_vel_error -= (wp_nav->get_speed_xy() * 0.01f) * plane.nav_pitch_cd / (float)plane.aparm.pitch_limit_max_cd;
fwd_vel_error -= (wp_nav->get_default_speed_xy() * 0.01f) * plane.nav_pitch_cd / (float)plane.aparm.pitch_limit_max_cd;
if (should_relax() && vel_ned.length() < 1) {
// we may be landed