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Copter: rename auto_take_off_xx to auto_takeoff_xx

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This commit is contained in:
Randy Mackay 2022-03-11 11:48:56 +09:00
parent 6a0c46d241
commit 759e2b1b55
2 changed files with 9 additions and 9 deletions
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4
ArduCopter/mode.h
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@ -212,8 +212,8 @@ protected:
static float auto_takeoff_no_nav_alt_cm;
// auto takeoff variables
static float auto_take_off_start_alt_cm; // start altitude expressed as cm above ekf origin
static float auto_take_off_complete_alt_cm; // completion altitude expressed as cm above ekf origin
static float auto_takeoff_start_alt_cm; // start altitude expressed as cm above ekf origin
static float auto_takeoff_complete_alt_cm; // completion altitude expressed as cm above ekf origin
static bool auto_takeoff_terrain_alt; // true if altitudes are above terrain
static bool auto_takeoff_complete; // true when takeoff is complete
static Vector3p auto_takeoff_complete_pos; // target takeoff position as offset from ekf origin in cm

14
ArduCopter/takeoff.cpp
View File

@ -4,8 +4,8 @@ Mode::_TakeOff Mode::takeoff;
bool Mode::auto_takeoff_no_nav_active = false;
float Mode::auto_takeoff_no_nav_alt_cm = 0;
float Mode::auto_take_off_start_alt_cm = 0;
float Mode::auto_take_off_complete_alt_cm = 0;
float Mode::auto_takeoff_start_alt_cm = 0;
float Mode::auto_takeoff_complete_alt_cm = 0;
bool Mode::auto_takeoff_terrain_alt = false;
bool Mode::auto_takeoff_complete = false;
Vector3p Mode::auto_takeoff_complete_pos;
@ -159,7 +159,7 @@ void Mode::auto_takeoff_run()
pos_control->update_xy_controller();
// command the aircraft to the take off altitude
float pos_z = auto_take_off_complete_alt_cm + terr_offset;
float pos_z = auto_takeoff_complete_alt_cm + terr_offset;
float vel_z = 0.0;
copter.pos_control->input_pos_vel_accel_z(pos_z, vel_z, 0.0);
@ -179,7 +179,7 @@ void Mode::auto_takeoff_run()
}
// handle takeoff completion
bool reached_altitude = (copter.pos_control->get_pos_target_z_cm() - auto_take_off_start_alt_cm) >= ((auto_take_off_complete_alt_cm - auto_take_off_start_alt_cm) * 0.90);
bool reached_altitude = (copter.pos_control->get_pos_target_z_cm() - auto_takeoff_start_alt_cm) >= ((auto_takeoff_complete_alt_cm - auto_takeoff_start_alt_cm) * 0.90);
bool reached_climb_rate = copter.pos_control->get_vel_desired_cms().z < copter.pos_control->get_max_speed_up_cms() * 0.1;
auto_takeoff_complete = reached_altitude && reached_climb_rate;
@ -192,13 +192,13 @@ void Mode::auto_takeoff_run()
void Mode::auto_takeoff_start(float complete_alt_cm, bool terrain_alt)
{
auto_take_off_start_alt_cm = inertial_nav.get_position_z_up_cm();
auto_take_off_complete_alt_cm = complete_alt_cm;
auto_takeoff_start_alt_cm = inertial_nav.get_position_z_up_cm();
auto_takeoff_complete_alt_cm = complete_alt_cm;
auto_takeoff_terrain_alt = terrain_alt;
auto_takeoff_complete = false;
if ((g2.wp_navalt_min > 0) && (is_disarmed_or_landed() || !motors->get_interlock())) {
// we are not flying, climb with no navigation to current alt-above-ekf-origin + wp_navalt_min
auto_takeoff_no_nav_alt_cm = auto_take_off_start_alt_cm + g2.wp_navalt_min * 100;
auto_takeoff_no_nav_alt_cm = auto_takeoff_start_alt_cm + g2.wp_navalt_min * 100;
auto_takeoff_no_nav_active = true;
} else {
auto_takeoff_no_nav_active = false;