Rover: rename mode lateral acceleration and make private

APMrover2/mode.cpp

@@ -18,7 +18,7 @@ void Mode::exit()
     // call sub-classes exit
     _exit();
 
-    lateral_acceleration = 0.0f;
+    _desired_lat_accel = 0.0f;
 }
 
 // these are basically the same checks as in AP_Arming:
@@ -285,7 +285,7 @@ float Mode::calc_reduced_speed_for_turn_or_distance(float desired_speed)
 {
     // this method makes use the following internal variables
     const float yaw_error_cd = _yaw_error_cd;
-    const float target_lateral_accel_G = lateral_acceleration;
+    const float target_lateral_accel_G = _desired_lat_accel;
     const float distance_to_waypoint = _distance_to_destination;
 
     // calculate the yaw_error_ratio which is the error (capped at 90degrees) expressed as a ratio (from 0 ~ 1)
@@ -328,7 +328,7 @@ void Mode::calc_steering_to_waypoint(const struct Location &origin, const struct
     // positive error = right turn
     rover.nav_controller->set_reverse(reversed);
     rover.nav_controller->update_waypoint(origin, destination);
-    lateral_acceleration = rover.nav_controller->lateral_acceleration();
+    _desired_lat_accel = rover.nav_controller->lateral_acceleration();
     if (reversed) {
         _yaw_error_cd = wrap_180_cd(rover.nav_controller->target_bearing_cd() - ahrs.yaw_sensor + 18000);
     } else {
@@ -336,9 +336,9 @@ void Mode::calc_steering_to_waypoint(const struct Location &origin, const struct
     }
     if (rover.use_pivot_steering(_yaw_error_cd)) {
         if (_yaw_error_cd >= 0.0f) {
-            lateral_acceleration = g.turn_max_g * GRAVITY_MSS;
+            _desired_lat_accel = g.turn_max_g * GRAVITY_MSS;
         } else {
-            lateral_acceleration = -g.turn_max_g * GRAVITY_MSS;
+            _desired_lat_accel = -g.turn_max_g * GRAVITY_MSS;
         }
     }
 
@@ -353,13 +353,13 @@ void Mode::calc_steering_from_lateral_acceleration(bool reversed)
 {
     // add obstacle avoidance response to lateral acceleration target
     if (!reversed) {
-        lateral_acceleration += (rover.obstacle.turn_angle / 45.0f) * g.turn_max_g;
+        _desired_lat_accel += (rover.obstacle.turn_angle / 45.0f) * g.turn_max_g;
     }
 
     // constrain to max G force
-    lateral_acceleration = constrain_float(lateral_acceleration, -g.turn_max_g * GRAVITY_MSS, g.turn_max_g * GRAVITY_MSS);
+    _desired_lat_accel = constrain_float(_desired_lat_accel, -g.turn_max_g * GRAVITY_MSS, g.turn_max_g * GRAVITY_MSS);
 
     // send final steering command to motor library
-    float steering_out = attitude_control.get_steering_out_lat_accel(lateral_acceleration, g2.motors.have_skid_steering(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, reversed);
+    float steering_out = attitude_control.get_steering_out_lat_accel(_desired_lat_accel, g2.motors.have_skid_steering(), g2.motors.limit.steer_left, g2.motors.limit.steer_right, reversed);
     g2.motors.set_steering(steering_out * 4500.0f);
 }

APMrover2/mode.h

@@ -95,10 +95,6 @@ public:
     // rtl argument should be true if called from RTL or SmartRTL modes (handled here to avoid duplication)
     void set_desired_speed_to_default(bool rtl = false);
 
-    // Navigation control variables
-    // The instantaneous desired lateral acceleration in m/s/s
-    float lateral_acceleration;
-
 protected:
 
     // subclasses override this to perform checks before entering the mode
@@ -153,6 +149,7 @@ protected:
     Location _destination;      // destination Location when in Guided_WP
     float _distance_to_destination; // distance from vehicle to final destination in meters
     bool _reached_destination;  // true once the vehicle has reached the destination
+    float _desired_lat_accel;   // desired lateral acceleration in m/s/s
     float _desired_yaw_cd;      // desired yaw in centi-degrees
     float _yaw_error_cd;        // error between desired yaw and actual yaw in centi-degrees
     float _desired_speed;       // desired speed in m/s

APMrover2/mode_auto.cpp

@@ -60,7 +60,7 @@ void ModeAuto::update()
             } else {
                 // we have reached the destination so stop
                 stop_vehicle();
-                lateral_acceleration = 0.0f;
+                _desired_lat_accel = 0.0f;
             }
             break;
         }

APMrover2/mode_guided.cpp

@@ -7,7 +7,7 @@ bool ModeGuided::_enter()
     set_desired_speed_to_default();
 
     // when entering guided mode we set the target as the current location.
-    lateral_acceleration = 0.0f;
+    _desired_lat_accel = 0.0f;
     set_desired_location(rover.current_loc);
 
     // guided mode never travels in reverse

APMrover2/mode_rtl.cpp

@@ -37,6 +37,6 @@ void ModeRTL::update()
     } else {
         // we've reached destination so stop
         stop_vehicle();
-        lateral_acceleration = 0.0f;
+        _desired_lat_accel = 0.0f;
     }
 }

APMrover2/mode_steering.cpp

@@ -15,7 +15,7 @@ void ModeSteering::update()
         // no valid speed so stop
         g2.motors.set_throttle(0.0f);
         g2.motors.set_steering(0.0f);
-        lateral_acceleration = 0.0f;
+        _desired_lat_accel = 0.0f;
         return;
     }
 
@@ -36,13 +36,13 @@ void ModeSteering::update()
     max_g_force = constrain_float(max_g_force, 0.1f, g.turn_max_g * GRAVITY_MSS);
 
     // convert pilot steering input to desired lateral acceleration
-    lateral_acceleration = max_g_force * (desired_steering / 4500.0f);
+    _desired_lat_accel = max_g_force * (desired_steering / 4500.0f);
 
     // reverse target lateral acceleration if backing up
     bool reversed = false;
     if (is_negative(target_speed)) {
         reversed = true;
-        lateral_acceleration = -lateral_acceleration;
+        _desired_lat_accel = -_desired_lat_accel;
     }
 
     // mark us as in_reverse when using a negative throttle