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Rover: rename nav_enabled to tack_enabled

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tack_enabled is more precise than nav_enabled so it describes the feature more accurately
This commit is contained in:
Randy Mackay 2019-08-21 15:05:03 +09:00
parent bf7432cf2e
commit e023400fda
3 changed files with 9 additions and 9 deletions
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2
APMrover2/mode_loiter.cpp
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@ -25,7 +25,7 @@ void ModeLoiter::update()
// if within loiter radius slew desired speed towards zero and use existing desired heading
if (_distance_to_destination <= g2.loit_radius) {
// sailboats should not stop unless motoring
const float desired_speed_within_radius = rover.g2.sailboat.nav_enabled() ? 0.1f : 0.0f;
const float desired_speed_within_radius = rover.g2.sailboat.tack_enabled() ? 0.1f : 0.0f;
_desired_speed = attitude_control.get_desired_speed_accel_limited(desired_speed_within_radius, rover.G_Dt);
} else {
// P controller with hard-coded gain to convert distance to desired speed

14
APMrover2/sailboat.cpp
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@ -97,7 +97,7 @@ Sailboat::Sailboat()
}
// Should we use sailboat navigation?
bool Sailboat::nav_enabled() const
bool Sailboat::tack_enabled() const
{
return (enable == 2) &&
(throttle_state != Sailboat_Throttle::FORCE_MOTOR) &&
@ -111,7 +111,7 @@ void Sailboat::init()
rover.g2.crash_angle.set_default(0);
}
if (nav_enabled()) {
if (tack_enabled()) {
rover.g2.loit_type.set_default(1);
rover.g2.loit_radius.set_default(5);
rover.g2.wp_nav.set_default_overshoot(10);
@ -224,7 +224,7 @@ float Sailboat::get_VMG() const
// handle user initiated tack while in acro mode
void Sailboat::handle_tack_request_acro()
{
if (!nav_enabled() || currently_tacking) {
if (!tack_enabled() || currently_tacking) {
return;
}
// set tacking heading target to the current angle relative to the true wind but on the new tack
@ -243,7 +243,7 @@ float Sailboat::get_tack_heading_rad() const
// handle user initiated tack while in autonomous modes (Auto, Guided, RTL, SmartRTL, etc)
void Sailboat::handle_tack_request_auto()
{
if (!nav_enabled() || currently_tacking) {
if (!tack_enabled() || currently_tacking) {
return;
}
@ -262,14 +262,14 @@ void Sailboat::clear_tack()
// returns true if boat is currently tacking
bool Sailboat::tacking() const
{
return nav_enabled() && currently_tacking;
return tack_enabled() && currently_tacking;
}
// returns true if sailboat should take a indirect navigation route to go upwind
// desired_heading should be in centi-degrees
bool Sailboat::use_indirect_route(float desired_heading_cd) const
{
if (!nav_enabled()) {
if (!tack_enabled()) {
return false;
}
@ -284,7 +284,7 @@ bool Sailboat::use_indirect_route(float desired_heading_cd) const
// this function assumes the caller has already checked sailboat_use_indirect_route(desired_heading_cd) returned true
float Sailboat::calc_heading(float desired_heading_cd)
{
if (!nav_enabled()) {
if (!tack_enabled()) {
return desired_heading_cd;
}

2
APMrover2/sailboat.h
View File

@ -27,7 +27,7 @@ public:
bool sail_enabled() const { return enable > 0;}
// true if sailboat navigation (aka tacking) is enabled
bool nav_enabled() const;
bool tack_enabled() const;
// setup
void init();