Copter: move set_throttle_takeoff implementation into Mode
No callers except the mode objects, so move it.
This commit is contained in:
parent
4e12f16608
commit
d87986ecdd
@ -69,13 +69,6 @@ void Copter::update_throttle_hover()
|
||||
#endif
|
||||
}
|
||||
|
||||
// set_throttle_takeoff - allows parents to tell throttle controller we are taking off so I terms can be cleared
|
||||
void Copter::set_throttle_takeoff()
|
||||
{
|
||||
// tell position controller to reset alt target and reset I terms
|
||||
pos_control->init_takeoff();
|
||||
}
|
||||
|
||||
// get_pilot_desired_climb_rate - transform pilot's throttle input to climb rate in cm/s
|
||||
// without any deadzone at the bottom
|
||||
float Copter::get_pilot_desired_climb_rate(float throttle_control)
|
||||
|
@ -661,7 +661,6 @@ private:
|
||||
// Attitude.cpp
|
||||
float get_pilot_desired_yaw_rate(int16_t stick_angle);
|
||||
void update_throttle_hover();
|
||||
void set_throttle_takeoff();
|
||||
float get_pilot_desired_climb_rate(float throttle_control);
|
||||
float get_non_takeoff_throttle();
|
||||
float get_avoidance_adjusted_climbrate(float target_rate);
|
||||
|
@ -796,9 +796,12 @@ GCS_Copter &Mode::gcs()
|
||||
return copter.gcs();
|
||||
}
|
||||
|
||||
// set_throttle_takeoff - allows modes to tell throttle controller we
|
||||
// are taking off so I terms can be cleared
|
||||
void Mode::set_throttle_takeoff()
|
||||
{
|
||||
return copter.set_throttle_takeoff();
|
||||
// tell position controller to reset alt target and reset I terms
|
||||
pos_control->init_takeoff();
|
||||
}
|
||||
|
||||
float Mode::get_avoidance_adjusted_climbrate(float target_rate)
|
||||
|
@ -54,7 +54,7 @@ void Mode::_TakeOff::start(float alt_cm)
|
||||
// indicate we are taking off
|
||||
copter.set_land_complete(false);
|
||||
// tell position controller to reset alt target and reset I terms
|
||||
copter.set_throttle_takeoff();
|
||||
copter.flightmode->set_throttle_takeoff();
|
||||
|
||||
// calculate climb rate
|
||||
const float speed = MIN(copter.wp_nav->get_default_speed_up(), MAX(copter.g.pilot_speed_up*2.0f/3.0f, copter.g.pilot_speed_up-50.0f));
|
||||
|
Loading…
Reference in New Issue
Block a user