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Copter: rename set_alt to set_alt_cm in commands_logic

mission-4.1.18
Randy Mackay 9 years ago
parent
1bfb565e18
commit
d92154a44e
1 changed files with 10 additions and 10 deletions
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  1. 20
      ArduCopter/commands_logic.cpp

20
ArduCopter/commands_logic.cpp
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@ -323,10 +323,10 @@ void Copter::do_land(const AP_Mission::Mission_Command& cmd)
target_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, target_terr_alt_cm)) { target_loc.get_alt_cm(Location_Class::ALT_FRAME_ABOVE_TERRAIN, target_terr_alt_cm)) {
curr_terr_alt_cm = MAX(curr_terr_alt_cm,200); curr_terr_alt_cm = MAX(curr_terr_alt_cm,200);
// if using terrain, set target altitude to current altitude above terrain // if using terrain, set target altitude to current altitude above terrain
target_loc.set_alt(curr_terr_alt_cm, Location_Class::ALT_FRAME_ABOVE_TERRAIN); target_loc.set_alt_cm(curr_terr_alt_cm, Location_Class::ALT_FRAME_ABOVE_TERRAIN);
} else { } else {
// set target altitude to current altitude above home // set target altitude to current altitude above home
target_loc.set_alt(current_loc.alt, Location_Class::ALT_FRAME_ABOVE_HOME); target_loc.set_alt_cm(current_loc.alt, Location_Class::ALT_FRAME_ABOVE_HOME);
} }
auto_wp_start(target_loc); auto_wp_start(target_loc);
}else{ }else{
@ -359,10 +359,10 @@ void Copter::do_loiter_unlimited(const AP_Mission::Mission_Command& cmd)
// set to current altitude but in command's alt frame // set to current altitude but in command's alt frame
int32_t curr_alt; int32_t curr_alt;
if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) { if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) {
target_loc.set_alt(curr_alt, target_loc.get_alt_frame()); target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame());
} else { } else {
// default to current altitude as alt-above-home // default to current altitude as alt-above-home
target_loc.set_alt(current_loc.alt, current_loc.get_alt_frame()); target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame());
} }
} }
@ -387,10 +387,10 @@ void Copter::do_circle(const AP_Mission::Mission_Command& cmd)
int32_t curr_alt; int32_t curr_alt;
if (current_loc.get_alt_cm(circle_center.get_alt_frame(),curr_alt)) { if (current_loc.get_alt_cm(circle_center.get_alt_frame(),curr_alt)) {
// circle altitude uses frame from command // circle altitude uses frame from command
circle_center.set_alt(curr_alt,circle_center.get_alt_frame()); circle_center.set_alt_cm(curr_alt,circle_center.get_alt_frame());
} else { } else {
// default to current altitude above origin // default to current altitude above origin
circle_center.set_alt(current_loc.alt, current_loc.get_alt_frame()); circle_center.set_alt_cm(current_loc.alt, current_loc.get_alt_frame());
Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA); Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA);
} }
} }
@ -428,10 +428,10 @@ void Copter::do_spline_wp(const AP_Mission::Mission_Command& cmd)
// set to current altitude but in command's alt frame // set to current altitude but in command's alt frame
int32_t curr_alt; int32_t curr_alt;
if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) { if (current_loc.get_alt_cm(target_loc.get_alt_frame(),curr_alt)) {
target_loc.set_alt(curr_alt, target_loc.get_alt_frame()); target_loc.set_alt_cm(curr_alt, target_loc.get_alt_frame());
} else { } else {
// default to current altitude as alt-above-home // default to current altitude as alt-above-home
target_loc.set_alt(current_loc.alt, current_loc.get_alt_frame()); target_loc.set_alt_cm(current_loc.alt, current_loc.get_alt_frame());
} }
} }
@ -469,10 +469,10 @@ void Copter::do_spline_wp(const AP_Mission::Mission_Command& cmd)
if (next_loc.alt == 0) { if (next_loc.alt == 0) {
int32_t next_alt; int32_t next_alt;
if (target_loc.get_alt_cm(next_loc.get_alt_frame(), next_alt)) { if (target_loc.get_alt_cm(next_loc.get_alt_frame(), next_alt)) {
next_loc.set_alt(next_alt, next_loc.get_alt_frame()); next_loc.set_alt_cm(next_alt, next_loc.get_alt_frame());
} else { } else {
// default to first waypoints altitude // default to first waypoints altitude
next_loc.set_alt(target_loc.alt, target_loc.get_alt_frame()); next_loc.set_alt_cm(target_loc.alt, target_loc.get_alt_frame());
} }
} }
// if the next nav command is a waypoint set end type to spline or straight // if the next nav command is a waypoint set end type to spline or straight

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