diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp index 49cbabce07..e766bbfb04 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp @@ -1007,7 +1007,7 @@ void AC_AttitudeControl::accel_limiting(bool enable_limits) } // Return tilt angle limit for pilot input that prioritises altitude hold over lean angle -float AC_AttitudeControl::get_althold_lean_angle_max() const +float AC_AttitudeControl::get_althold_lean_angle_max_cd() const { // convert to centi-degrees for public interface return MAX(ToDeg(_althold_lean_angle_max), AC_ATTITUDE_CONTROL_ANGLE_LIMIT_MIN) * 100.0f; diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h index f512c5d8c5..d6f875422e 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h @@ -76,34 +76,34 @@ public: virtual AC_PID& get_rate_yaw_pid() = 0; // get the roll acceleration limit in centidegrees/s/s or radians/s/s - float get_accel_roll_max() const { return _accel_roll_max; } + float get_accel_roll_max_cdss() const { return _accel_roll_max; } float get_accel_roll_max_radss() const { return radians(_accel_roll_max * 0.01f); } // Sets the roll acceleration limit in centidegrees/s/s - void set_accel_roll_max(float accel_roll_max) { _accel_roll_max = accel_roll_max; } + void set_accel_roll_max_cdss(float accel_roll_max) { _accel_roll_max = accel_roll_max; } // Sets and saves the roll acceleration limit in centidegrees/s/s - void save_accel_roll_max(float accel_roll_max) { _accel_roll_max.set_and_save(accel_roll_max); } + void save_accel_roll_max_cdss(float accel_roll_max) { _accel_roll_max.set_and_save(accel_roll_max); } // get the pitch acceleration limit in centidegrees/s/s or radians/s/s - float get_accel_pitch_max() const { return _accel_pitch_max; } + float get_accel_pitch_max_cdss() const { return _accel_pitch_max; } float get_accel_pitch_max_radss() const { return radians(_accel_pitch_max * 0.01f); } // Sets the pitch acceleration limit in centidegrees/s/s - void set_accel_pitch_max(float accel_pitch_max) { _accel_pitch_max = accel_pitch_max; } + void set_accel_pitch_max_cdss(float accel_pitch_max) { _accel_pitch_max = accel_pitch_max; } // Sets and saves the pitch acceleration limit in centidegrees/s/s - void save_accel_pitch_max(float accel_pitch_max) { _accel_pitch_max.set_and_save(accel_pitch_max); } + void save_accel_pitch_max_cdss(float accel_pitch_max) { _accel_pitch_max.set_and_save(accel_pitch_max); } // get the yaw acceleration limit in centidegrees/s/s or radians/s/s - float get_accel_yaw_max() const { return _accel_yaw_max; } + float get_accel_yaw_max_cdss() const { return _accel_yaw_max; } float get_accel_yaw_max_radss() const { return radians(_accel_yaw_max * 0.01f); } // Sets the yaw acceleration limit in centidegrees/s/s - void set_accel_yaw_max(float accel_yaw_max) { _accel_yaw_max = accel_yaw_max; } + void set_accel_yaw_max_cdss(float accel_yaw_max) { _accel_yaw_max = accel_yaw_max; } // Sets and saves the yaw acceleration limit in centidegrees/s/s - void save_accel_yaw_max(float accel_yaw_max) { _accel_yaw_max.set_and_save(accel_yaw_max); } + void save_accel_yaw_max_cdss(float accel_yaw_max) { _accel_yaw_max.set_and_save(accel_yaw_max); } // get the roll angular velocity limit in radians/s float get_ang_vel_roll_max_rads() const { return _ang_vel_roll_max; } @@ -279,13 +279,13 @@ public: float angle_boost() const { return _angle_boost; } // Return tilt angle limit for pilot input that prioritises altitude hold over lean angle - virtual float get_althold_lean_angle_max() const; + virtual float get_althold_lean_angle_max_cd() const; // Return configured tilt angle limit in centidegrees - float lean_angle_max() const { return _aparm.angle_max; } + float lean_angle_max_cd() const { return _aparm.angle_max; } // Return tilt angle in degrees - float lean_angle() const { return degrees(_thrust_angle); } + float lean_angle_deg() const { return degrees(_thrust_angle); } // calculates the velocity correction from an angle error. The angular velocity has acceleration and // deceleration limits including basic jerk limiting using smoothing_gain diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h index fcc7ba32fd..cdb4711687 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_Multi_6DoF.h @@ -62,7 +62,7 @@ public: void rate_controller_run() override; // limiting lean angle based on throttle makes no sense for 6DoF, always allow 90 deg, return in centi-degrees - float get_althold_lean_angle_max() const override { return 9000.0f; } + float get_althold_lean_angle_max_cd() const override { return 9000.0f; } // set the attitude that will be used in 6DoF flight void set_offset_roll_pitch(float roll_deg, float pitch_deg) { diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp index dd27988be7..365aa687e2 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp @@ -654,7 +654,7 @@ void AC_PosControl::update_xy_controller() // limit acceleration using maximum lean angles _limit_vector.xy().zero(); - float angle_max = MIN(_attitude_control.get_althold_lean_angle_max(), get_lean_angle_max_cd()); + float angle_max = MIN(_attitude_control.get_althold_lean_angle_max_cd(), get_lean_angle_max_cd()); float accel_max = GRAVITY_MSS * 100.0f * tanf(ToRad(angle_max * 0.01f)); if (_accel_target.limit_length_xy(accel_max)) { _limit_vector.xy() = _accel_target.xy(); @@ -1033,7 +1033,7 @@ void AC_PosControl::update_z_controller() float AC_PosControl::get_lean_angle_max_cd() const { if (is_zero(_lean_angle_max)) { - return _attitude_control.lean_angle_max(); + return _attitude_control.lean_angle_max_cd(); } return _lean_angle_max * 100.0f; }