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Plane: altitude: add plane. prefix to Plane::adjust_altitude_target to minimise diff

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Iampete1 2022-12-14 12:29:09 +00:00 committed by Andrew Tridgell
parent 87b4b031bf
commit ab43dadb57
1 changed files with 30 additions and 30 deletions
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60
ArduPlane/altitude.cpp
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@ -35,59 +35,59 @@ void Plane::adjust_altitude_target()
return;
}
#if OFFBOARD_GUIDED == ENABLED
if (control_mode == &mode_guided && ((guided_state.target_alt_time_ms != 0) || guided_state.target_alt > -0.001 )) { // target_alt now defaults to -1, and _time_ms defaults to zero.
if (control_mode == &mode_guided && ((plane.guided_state.target_alt_time_ms != 0) || plane.guided_state.target_alt > -0.001 )) { // target_alt now defaults to -1, and _time_ms defaults to zero.
// offboard altitude demanded
uint32_t now = AP_HAL::millis();
float delta = 1e-3f * (now - guided_state.target_alt_time_ms);
guided_state.target_alt_time_ms = now;
float delta = 1e-3f * (now - plane.guided_state.target_alt_time_ms);
plane.guided_state.target_alt_time_ms = now;
// determine delta accurately as a float
float delta_amt_f = delta * guided_state.target_alt_accel;
float delta_amt_f = delta * plane.guided_state.target_alt_accel;
// then scale x100 to match last_target_alt and convert to a signed int32_t as it may be negative
int32_t delta_amt_i = (int32_t)(100.0 * delta_amt_f);
Location temp {};
temp.alt = guided_state.last_target_alt + delta_amt_i; // ...to avoid floats here,
if (is_positive(guided_state.target_alt_accel)) {
temp.alt = MIN(guided_state.target_alt, temp.alt);
temp.alt = plane.guided_state.last_target_alt + delta_amt_i; // ...to avoid floats here,
if (is_positive(plane.guided_state.target_alt_accel)) {
temp.alt = MIN(plane.guided_state.target_alt, temp.alt);
} else {
temp.alt = MAX(guided_state.target_alt, temp.alt);
temp.alt = MAX(plane.guided_state.target_alt, temp.alt);
}
guided_state.last_target_alt = temp.alt;
set_target_altitude_location(temp);
plane.guided_state.last_target_alt = temp.alt;
plane.set_target_altitude_location(temp);
} else
#endif // OFFBOARD_GUIDED == ENABLED
if (control_mode->update_target_altitude()) {
// handled in mode specific code
} else if (landing.is_flaring()) {
// handled in mode specific code
} else if (plane.landing.is_flaring()) {
// during a landing flare, use TECS_LAND_SINK as a target sink
// rate, and ignores the target altitude
set_target_altitude_location(next_WP_loc);
} else if (landing.is_on_approach()) {
landing.setup_landing_glide_slope(prev_WP_loc, next_WP_loc, current_loc, target_altitude.offset_cm);
landing.adjust_landing_slope_for_rangefinder_bump(rangefinder_state, prev_WP_loc, next_WP_loc, current_loc, auto_state.wp_distance, target_altitude.offset_cm);
} else if (landing.get_target_altitude_location(target_location)) {
set_target_altitude_location(target_location);
plane.set_target_altitude_location(plane.next_WP_loc);
} else if (plane.landing.is_on_approach()) {
plane.landing.setup_landing_glide_slope(plane.prev_WP_loc, plane.next_WP_loc, plane.current_loc, plane.target_altitude.offset_cm);
plane.landing.adjust_landing_slope_for_rangefinder_bump(plane.rangefinder_state, plane.prev_WP_loc, plane.next_WP_loc, plane.current_loc, plane.auto_state.wp_distance, plane.target_altitude.offset_cm);
} else if (plane.landing.get_target_altitude_location(target_location)) {
plane.set_target_altitude_location(target_location);
#if HAL_SOARING_ENABLED
} else if (g2.soaring_controller.is_active() && g2.soaring_controller.get_throttle_suppressed()) {
// Reset target alt to current alt, to prevent large altitude errors when gliding.
set_target_altitude_location(current_loc);
reset_offset_altitude();
} else if (plane.g2.soaring_controller.is_active() && plane.g2.soaring_controller.get_throttle_suppressed()) {
// Reset target alt to current alt, to prevent large altitude errors when gliding.
plane.set_target_altitude_location(plane.current_loc);
plane.reset_offset_altitude();
#endif
} else if (reached_loiter_target()) {
} else if (plane.reached_loiter_target()) {
// once we reach a loiter target then lock to the final
// altitude target
set_target_altitude_location(next_WP_loc);
} else if (target_altitude.offset_cm != 0 &&
!current_loc.past_interval_finish_line(prev_WP_loc, next_WP_loc)) {
plane.set_target_altitude_location(plane.next_WP_loc);
} else if (plane.target_altitude.offset_cm != 0 &&
!plane.current_loc.past_interval_finish_line(plane.prev_WP_loc, plane.next_WP_loc)) {
// control climb/descent rate
set_target_altitude_proportion(next_WP_loc, 1.0f-auto_state.wp_proportion);
plane.set_target_altitude_proportion(plane.next_WP_loc, 1.0f-plane.auto_state.wp_proportion);
// stay within the range of the start and end locations in altitude
constrain_target_altitude_location(next_WP_loc, prev_WP_loc);
plane.constrain_target_altitude_location(plane.next_WP_loc, plane.prev_WP_loc);
} else {
set_target_altitude_location(next_WP_loc);
plane.set_target_altitude_location(plane.next_WP_loc);
}
altitude_error_cm = calc_altitude_error_cm();
plane.altitude_error_cm = plane.calc_altitude_error_cm();
}
/*