AC_AttitudeControl: Rename several set_speed and set_accel functions

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
 {

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