Copter: land, loiter, rtl provide dt to AC_WPNav::set_pilot_desired_acceleration

Also fix accelerations/lean-angles for land and rtl-land

ArduCopter/mode_land.cpp

@@ -202,7 +202,8 @@ void Copter::land_run_vertical_control(bool pause_descent)
 
 void Copter::land_run_horizontal_control()
 {
-    int16_t roll_control = 0, pitch_control = 0;
+    float target_roll = 0.0f;
+    float target_pitch = 0.0f;
     float target_yaw_rate = 0;
     
     // relax loiter target if we might be landed
@@ -224,12 +225,11 @@ void Copter::land_run_horizontal_control()
             // apply SIMPLE mode transform to pilot inputs
             update_simple_mode();
 
-            // process pilot's roll and pitch input
-            roll_control = channel_roll->get_control_in();
-            pitch_control = channel_pitch->get_control_in();
+            // convert pilot input to lean angles
+            Mode::get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, wp_nav->get_loiter_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
 
             // record if pilot has overriden roll or pitch
-            if (roll_control != 0 || pitch_control != 0) {
+            if (!is_zero(target_roll) || !is_zero(target_pitch)) {
                 ap.land_repo_active = true;
             }
         }
@@ -255,9 +255,9 @@ void Copter::land_run_horizontal_control()
         pos_control->override_vehicle_velocity_xy(-target_vel_rel);
     }
 #endif
-    
+
     // process roll, pitch inputs
-    wp_nav->set_pilot_desired_acceleration(roll_control, pitch_control);
+    wp_nav->set_pilot_desired_acceleration(target_roll, target_pitch, G_Dt);
 
     // run loiter controller
     wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);

ArduCopter/mode_loiter.cpp

@@ -85,11 +85,10 @@ void Copter::ModeLoiter::run()
         update_simple_mode();
 
         // convert pilot input to lean angles
-        // ToDo: convert get_pilot_desired_lean_angles to return angles as floats
         get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, wp_nav->get_loiter_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
 
         // process pilot's roll and pitch input
-        wp_nav->set_pilot_desired_acceleration(target_roll, target_pitch);
+        wp_nav->set_pilot_desired_acceleration(target_roll, target_pitch, G_Dt);
 
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());

ArduCopter/mode_rtl.cpp

@@ -257,8 +257,9 @@ void Copter::ModeRTL::descent_start()
 //      called by rtl_run at 100hz or more
 void Copter::ModeRTL::descent_run()
 {
-    int16_t roll_control = 0, pitch_control = 0;
-    float target_yaw_rate = 0;
+    float target_roll = 0.0f;
+    float target_pitch = 0.0f;
+    float target_yaw_rate = 0.0f;
 
     // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || !motors->get_interlock()) {
@@ -282,9 +283,13 @@ void Copter::ModeRTL::descent_run()
             // apply SIMPLE mode transform to pilot inputs
             update_simple_mode();
 
-            // process pilot's roll and pitch input
-            roll_control = channel_roll->get_control_in();
-            pitch_control = channel_pitch->get_control_in();
+            // convert pilot input to lean angles
+            get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, wp_nav->get_loiter_angle_max_cd(), attitude_control->get_althold_lean_angle_max());
+
+            // record if pilot has overriden roll or pitch
+            if (!is_zero(target_roll) || !is_zero(target_pitch)) {
+                ap.land_repo_active = true;
+            }
         }
 
         // get pilot's desired yaw rate
@@ -295,7 +300,7 @@ void Copter::ModeRTL::descent_run()
     motors->set_desired_spool_state(AP_Motors::DESIRED_THROTTLE_UNLIMITED);
 
     // process roll, pitch inputs
-    wp_nav->set_pilot_desired_acceleration(roll_control, pitch_control);
+    wp_nav->set_pilot_desired_acceleration(target_roll, target_pitch, G_Dt);
 
     // run loiter controller
     wp_nav->update_loiter(ekfGndSpdLimit, ekfNavVelGainScaler);