From 42c7f5ceb4102fb47aef86110810aae239efdce4 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Thu, 24 Jan 2019 14:02:31 +0900 Subject: [PATCH] Copter: integrate WPNAV::set_speed_z split to set_speed_up and set_speed_down --- ArduCopter/GCS_Mavlink.cpp | 4 ++-- ArduCopter/mode_auto.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp index 1be208760b..6ac16e873b 100644 --- a/ArduCopter/GCS_Mavlink.cpp +++ b/ArduCopter/GCS_Mavlink.cpp @@ -729,9 +729,9 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_ // param4 : unused if (packet.param2 > 0.0f) { if (packet.param1 > 2.9f) { // 3 = speed down - copter.wp_nav->set_speed_z(packet.param2 * 100.0f, copter.wp_nav->get_speed_up()); + copter.wp_nav->set_speed_down(packet.param2 * 100.0f); } else if (packet.param1 > 1.9f) { // 2 = speed up - copter.wp_nav->set_speed_z(copter.wp_nav->get_speed_down(), packet.param2 * 100.0f); + copter.wp_nav->set_speed_up(packet.param2 * 100.0f); } else { copter.wp_nav->set_speed_xy(packet.param2 * 100.0f); } diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp index 5d05fc6ca6..23746d8d97 100644 --- a/ArduCopter/mode_auto.cpp +++ b/ArduCopter/mode_auto.cpp @@ -1355,9 +1355,9 @@ void Copter::ModeAuto::do_change_speed(const AP_Mission::Mission_Command& cmd) { if (cmd.content.speed.target_ms > 0) { if (cmd.content.speed.speed_type == 2) { - copter.wp_nav->set_speed_z(copter.wp_nav->get_speed_down(), cmd.content.speed.target_ms * 100.0f); + copter.wp_nav->set_speed_up(cmd.content.speed.target_ms * 100.0f); } else if (cmd.content.speed.speed_type == 3) { - copter.wp_nav->set_speed_z(cmd.content.speed.target_ms * 100.0f, copter.wp_nav->get_speed_up()); + copter.wp_nav->set_speed_down(cmd.content.speed.target_ms * 100.0f); } else { copter.wp_nav->set_speed_xy(cmd.content.speed.target_ms * 100.0f); }