From 1d13aff7116b44a3f9807feb952ba85f6ccb473e Mon Sep 17 00:00:00 2001 From: Michael du Breuil Date: Wed, 19 Sep 2018 22:43:48 -0700 Subject: [PATCH] AC_AttitudeControl: Rename several set_speed and set_accel functions --- .../AC_AttitudeControl/AC_PosControl.cpp | 26 +++++------- libraries/AC_AttitudeControl/AC_PosControl.h | 40 +++++++++---------- 2 files changed, 29 insertions(+), 37 deletions(-) diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp index faf3be9ad0..6ede0e64d3 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.cpp +++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp @@ -197,20 +197,14 @@ AC_PosControl::AC_PosControl(const AP_AHRS_View& ahrs, const AP_InertialNav& ina _p_pos_xy(POSCONTROL_POS_XY_P), _pid_vel_xy(POSCONTROL_VEL_XY_P, POSCONTROL_VEL_XY_I, POSCONTROL_VEL_XY_D, POSCONTROL_VEL_XY_IMAX, POSCONTROL_VEL_XY_FILT_HZ, POSCONTROL_VEL_XY_FILT_D_HZ, POSCONTROL_DT_50HZ), _dt(POSCONTROL_DT_400HZ), - _last_update_xy_ms(0), - _last_update_z_ms(0), _speed_down_cms(POSCONTROL_SPEED_DOWN), _speed_up_cms(POSCONTROL_SPEED_UP), _speed_cms(POSCONTROL_SPEED), _accel_z_cms(POSCONTROL_ACCEL_Z), - _accel_last_z_cms(0.0f), _accel_cms(POSCONTROL_ACCEL_XY), _leash(POSCONTROL_LEASH_LENGTH_MIN), _leash_down_z(POSCONTROL_LEASH_LENGTH_MIN), _leash_up_z(POSCONTROL_LEASH_LENGTH_MIN), - _roll_target(0.0f), - _pitch_target(0.0f), - _distance_to_target(0.0f), _accel_target_filter(POSCONTROL_ACCEL_FILTER_HZ) { AP_Param::setup_object_defaults(this, var_info); @@ -249,11 +243,9 @@ void AC_PosControl::set_dt(float delta_sec) _vel_error_filter.set_cutoff_frequency(POSCONTROL_VEL_ERROR_CUTOFF_FREQ); } -/// set_speed_z - sets maximum climb and descent rates +/// set_max_speed_z - set the maximum climb and descent rates /// To-Do: call this in the main code as part of flight mode initialisation -/// calc_leash_length_z should be called afterwards -/// speed_down should be a negative number -void AC_PosControl::set_speed_z(float speed_down, float speed_up) +void AC_PosControl::set_max_speed_z(float speed_down, float speed_up) { // ensure speed_down is always negative speed_down = -fabsf(speed_down); @@ -266,8 +258,8 @@ void AC_PosControl::set_speed_z(float speed_down, float speed_up) } } -/// set_accel_z - set vertical acceleration in cm/s/s -void AC_PosControl::set_accel_z(float accel_cmss) +/// set_max_accel_z - set the maximum vertical acceleration in cm/s/s +void AC_PosControl::set_max_accel_z(float accel_cmss) { if (fabsf(_accel_z_cms-accel_cmss) > 1.0f) { _accel_z_cms = accel_cmss; @@ -640,8 +632,8 @@ void AC_PosControl::run_z_controller() /// lateral position controller /// -/// set_accel_xy - set horizontal acceleration in cm/s/s -void AC_PosControl::set_accel_xy(float accel_cmss) +/// set_max_accel_xy - set the maximum horizontal acceleration in cm/s/s +void AC_PosControl::set_max_accel_xy(float accel_cmss) { if (fabsf(_accel_cms-accel_cmss) > 1.0f) { _accel_cms = accel_cmss; @@ -650,8 +642,8 @@ void AC_PosControl::set_accel_xy(float accel_cmss) } } -/// set_speed_xy - set horizontal speed maximum in cm/s -void AC_PosControl::set_speed_xy(float speed_cms) +/// set_max_speed_xy - set the maximum horizontal speed maximum in cm/s +void AC_PosControl::set_max_speed_xy(float speed_cms) { if (fabsf(_speed_cms-speed_cms) > 1.0f) { _speed_cms = speed_cms; @@ -700,7 +692,7 @@ void AC_PosControl::set_target_to_stopping_point_xy() /// get_stopping_point_xy - calculates stopping point based on current position, velocity, vehicle acceleration /// distance_max allows limiting distance to stopping point /// results placed in stopping_position vector -/// set_accel_xy() should be called before this method to set vehicle acceleration +/// set_max_accel_xy() should be called before this method to set vehicle acceleration /// set_leash_length() should have been called before this method void AC_PosControl::get_stopping_point_xy(Vector3f &stopping_point) const { diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h index 4cba15852a..cdc16a0a94 100644 --- a/libraries/AC_AttitudeControl/AC_PosControl.h +++ b/libraries/AC_AttitudeControl/AC_PosControl.h @@ -61,26 +61,26 @@ public: /// z position controller /// - /// set_speed_z - sets maximum climb and descent rates + /// set_max_speed_z - sets maximum climb and descent rates /// speed_down can be positive or negative but will always be interpreted as a descent speed - /// leash length will be recalculated the next time update_z_controller() is called - void set_speed_z(float speed_down, float speed_up); + /// leash length will be recalculated + void set_max_speed_z(float speed_down, float speed_up); - /// get_speed_up - accessor for current up speed in cm/s - float get_speed_up() const { return _speed_up_cms; } + /// get_max_speed_up - accessor for current maximum up speed in cm/s + float get_max_speed_up() const { return _speed_up_cms; } - /// get_speed_down - accessors for current down speed in cm/s. Will be a negative number - float get_speed_down() const { return _speed_down_cms; } + /// get_max_speed_down - accessors for current maximum down speed in cm/s. Will be a negative number + float get_max_speed_down() const { return _speed_down_cms; } /// get_vel_target_z - returns current vertical speed in cm/s float get_vel_target_z() const { return _vel_target.z; } - /// set_accel_z - set vertical acceleration in cm/s/s - /// leash length will be recalculated the next time update_z_controller() is called - void set_accel_z(float accel_cmss); + /// set_max_accel_z - set the maximum vertical acceleration in cm/s/s + /// leash length will be recalculated + void set_max_accel_z(float accel_cmss); - /// get_accel_z - returns current vertical acceleration in cm/s/s - float get_accel_z() const { return _accel_z_cms; } + /// get_max_accel_z - returns current maximum vertical acceleration in cm/s/s + float get_max_accel_z() const { return _accel_z_cms; } /// calc_leash_length - calculates the vertical leash lengths from maximum speed, acceleration /// called by update_z_controller if z-axis speed or accelerations are changed @@ -165,15 +165,15 @@ public: /// this does not update the xy target void init_xy_controller(); - /// set_accel_xy - set horizontal acceleration in cm/s/s - /// leash length will be recalculated the next time update_xy_controller() is called - void set_accel_xy(float accel_cmss); - float get_accel_xy() const { return _accel_cms; } + /// set_max_accel_xy - set the maximum horizontal acceleration in cm/s/s + /// leash length will be recalculated + void set_max_accel_xy(float accel_cmss); + float get_max_accel_xy() const { return _accel_cms; } - /// set_speed_xy - set horizontal speed maximum in cm/s - /// leash length will be recalculated the next time update_xy_controller() is called - void set_speed_xy(float speed_cms); - float get_speed_xy() const { return _speed_cms; } + /// set_max_speed_xy - set the maximum horizontal speed maximum in cm/s + /// leash length will be recalculated + void set_max_speed_xy(float speed_cms); + float get_max_speed_xy() const { return _speed_cms; } /// set_limit_accel_xy - mark that accel has been limited /// this prevents integrator buildup