Copter: Cope with AC_PosControl renaming

ArduCopter/Attitude.cpp

@@ -229,7 +229,7 @@ float Copter::get_surface_tracking_climb_rate(int16_t target_rate, float current
 float Copter::get_avoidance_adjusted_climbrate(float target_rate)
 {
 #if AC_AVOID_ENABLED == ENABLED
-    avoid.adjust_velocity_z(pos_control->get_pos_z_p().kP(), pos_control->get_accel_z(), target_rate, G_Dt);
+    avoid.adjust_velocity_z(pos_control->get_pos_z_p().kP(), pos_control->get_max_accel_z(), target_rate, G_Dt);
     return target_rate;
 #else
     return target_rate;

ArduCopter/mode.cpp

@@ -425,14 +425,14 @@ void Copter::Mode::land_run_vertical_control(bool pause_descent)
         if (g.land_speed_high > 0) {
             max_land_descent_velocity = -g.land_speed_high;
         } else {
-            max_land_descent_velocity = pos_control->get_speed_down();
+            max_land_descent_velocity = pos_control->get_max_speed_down();
         }
 
         // Don't speed up for landing.
         max_land_descent_velocity = MIN(max_land_descent_velocity, -abs(g.land_speed));
 
         // Compute a vertical velocity demand such that the vehicle approaches g2.land_alt_low. Without the below constraint, this would cause the vehicle to hover at g2.land_alt_low.
-        cmb_rate = AC_AttitudeControl::sqrt_controller(MAX(g2.land_alt_low,100)-alt_above_ground, pos_control->get_pos_z_p().kP(), pos_control->get_accel_z(), G_Dt);
+        cmb_rate = AC_AttitudeControl::sqrt_controller(MAX(g2.land_alt_low,100)-alt_above_ground, pos_control->get_pos_z_p().kP(), pos_control->get_max_accel_z(), G_Dt);
 
         // Constrain the demanded vertical velocity so that it is between the configured maximum descent speed and the configured minimum descent speed.
         cmb_rate = constrain_float(cmb_rate, max_land_descent_velocity, -abs(g.land_speed));

ArduCopter/mode_althold.cpp

@@ -25,8 +25,8 @@ void Copter::ModeAltHold::run()
     float takeoff_climb_rate = 0.0f;
 
     // initialize vertical speeds and acceleration
-    pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
-    pos_control->set_accel_z(g.pilot_accel_z);
+    pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
+    pos_control->set_max_accel_z(g.pilot_accel_z);
 
     // apply SIMPLE mode transform to pilot inputs
     update_simple_mode();

ArduCopter/mode_autotune.cpp

@@ -181,8 +181,8 @@ bool Copter::ModeAutoTune::start(bool ignore_checks)
     }
 
     // initialize vertical speeds and leash lengths
-    pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
-    pos_control->set_accel_z(g.pilot_accel_z);
+    pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
+    pos_control->set_max_accel_z(g.pilot_accel_z);
 
     // initialise position and desired velocity
     if (!pos_control->is_active_z()) {
@@ -319,8 +319,8 @@ void Copter::ModeAutoTune::run()
     int16_t target_climb_rate;
 
     // initialize vertical speeds and acceleration
-    pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
-    pos_control->set_accel_z(g.pilot_accel_z);
+    pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
+    pos_control->set_max_accel_z(g.pilot_accel_z);
 
     // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
     // this should not actually be possible because of the init() checks

ArduCopter/mode_brake.cpp

@@ -13,8 +13,8 @@ bool Copter::ModeBrake::init(bool ignore_checks)
         wp_nav->init_brake_target(BRAKE_MODE_DECEL_RATE);
 
         // initialize vertical speed and acceleration
-        pos_control->set_speed_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z);
-        pos_control->set_accel_z(BRAKE_MODE_DECEL_RATE);
+        pos_control->set_max_speed_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z);
+        pos_control->set_max_accel_z(BRAKE_MODE_DECEL_RATE);
 
         // initialise position and desired velocity
         if (!pos_control->is_active_z()) {

ArduCopter/mode_circle.cpp

@@ -13,10 +13,10 @@ bool Copter::ModeCircle::init(bool ignore_checks)
         pilot_yaw_override = false;
 
         // initialize speeds and accelerations
-        pos_control->set_speed_xy(wp_nav->get_speed_xy());
-        pos_control->set_accel_xy(wp_nav->get_wp_acceleration());
-        pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
-        pos_control->set_accel_z(g.pilot_accel_z);
+        pos_control->set_max_speed_xy(wp_nav->get_speed_xy());
+        pos_control->set_max_accel_xy(wp_nav->get_wp_acceleration());
+        pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
+        pos_control->set_max_accel_z(g.pilot_accel_z);
 
         // initialise circle controller including setting the circle center based on vehicle speed
         copter.circle_nav->init();
@@ -35,10 +35,10 @@ void Copter::ModeCircle::run()
     float target_climb_rate = 0;
 
     // initialize speeds and accelerations
-    pos_control->set_speed_xy(wp_nav->get_speed_xy());
-    pos_control->set_accel_xy(wp_nav->get_wp_acceleration());
-    pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
-    pos_control->set_accel_z(g.pilot_accel_z);
+    pos_control->set_max_speed_xy(wp_nav->get_speed_xy());
+    pos_control->set_max_accel_xy(wp_nav->get_wp_acceleration());
+    pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
+    pos_control->set_max_accel_z(g.pilot_accel_z);
     
     // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately
     if (!motors->armed() || !ap.auto_armed || ap.land_complete || !motors->get_interlock()) {

ArduCopter/mode_flowhold.cpp

@@ -89,8 +89,8 @@ bool Copter::ModeFlowHold::init(bool ignore_checks)
     }
 
     // initialize vertical speeds and leash lengths
-    copter.pos_control->set_speed_z(-copter.g2.pilot_speed_dn, copter.g.pilot_speed_up);
-    copter.pos_control->set_accel_z(copter.g.pilot_accel_z);
+    copter.pos_control->set_max_speed_z(-copter.g2.pilot_speed_dn, copter.g.pilot_speed_up);
+    copter.pos_control->set_max_accel_z(copter.g.pilot_accel_z);
 
     // initialise position and desired velocity
     if (!copter.pos_control->is_active_z()) {
@@ -224,8 +224,8 @@ void Copter::ModeFlowHold::run()
     update_height_estimate();
     
     // initialize vertical speeds and acceleration
-    copter.pos_control->set_speed_z(-copter.g2.pilot_speed_dn, copter.g.pilot_speed_up);
-    copter.pos_control->set_accel_z(copter.g.pilot_accel_z);
+    copter.pos_control->set_max_speed_z(-copter.g2.pilot_speed_dn, copter.g.pilot_speed_up);
+    copter.pos_control->set_max_accel_z(copter.g.pilot_accel_z);
 
     // apply SIMPLE mode transform to pilot inputs
     copter.update_simple_mode();

ArduCopter/mode_follow.cpp

@@ -75,15 +75,15 @@ void Copter::ModeFollow::run()
 
         // scale desired velocity to stay within horizontal speed limit
         float desired_speed_xy = safe_sqrt(sq(desired_velocity_neu_cms.x) + sq(desired_velocity_neu_cms.y));
-        if (!is_zero(desired_speed_xy) && (desired_speed_xy > pos_control->get_speed_xy())) {
-            const float scalar_xy = pos_control->get_speed_xy() / desired_speed_xy;
+        if (!is_zero(desired_speed_xy) && (desired_speed_xy > pos_control->get_max_speed_xy())) {
+            const float scalar_xy = pos_control->get_max_speed_xy() / desired_speed_xy;
             desired_velocity_neu_cms.x *= scalar_xy;
             desired_velocity_neu_cms.y *= scalar_xy;
-            desired_speed_xy = pos_control->get_speed_xy();
+            desired_speed_xy = pos_control->get_max_speed_xy();
         }
 
         // limit desired velocity to be between maximum climb and descent rates
-        desired_velocity_neu_cms.z = constrain_float(desired_velocity_neu_cms.z, -fabsf(pos_control->get_speed_down()), pos_control->get_speed_up());
+        desired_velocity_neu_cms.z = constrain_float(desired_velocity_neu_cms.z, -fabsf(pos_control->get_max_speed_down()), pos_control->get_max_speed_up());
 
         // unit vector towards target position (i.e. vector to lead vehicle + offset)
         Vector3f dir_to_target_neu = dist_vec_offs_neu;
@@ -103,17 +103,17 @@ void Copter::ModeFollow::run()
 
         // slow down horizontally as we approach target (use 1/2 of maximum deceleration for gentle slow down)
         const float dist_to_target_xy = Vector2f(dist_vec_offs_neu.x, dist_vec_offs_neu.y).length();
-        copter.avoid.limit_velocity(pos_control->get_pos_xy_p().kP().get(), pos_control->get_accel_xy() * 0.5f, desired_velocity_xy_cms, dir_to_target_xy, dist_to_target_xy, copter.G_Dt);
+        copter.avoid.limit_velocity(pos_control->get_pos_xy_p().kP().get(), pos_control->get_max_accel_xy() * 0.5f, desired_velocity_xy_cms, dir_to_target_xy, dist_to_target_xy, copter.G_Dt);
 
         // limit the horizontal velocity to prevent fence violations
-        copter.avoid.adjust_velocity(pos_control->get_pos_xy_p().kP().get(), pos_control->get_accel_xy(), desired_velocity_xy_cms, G_Dt);
+        copter.avoid.adjust_velocity(pos_control->get_pos_xy_p().kP().get(), pos_control->get_max_accel_xy(), desired_velocity_xy_cms, G_Dt);
 
         // copy horizontal velocity limits back to 3d vector
         desired_velocity_neu_cms.x = desired_velocity_xy_cms.x;
         desired_velocity_neu_cms.y = desired_velocity_xy_cms.y;
 
         // limit vertical desired_velocity_neu_cms to slow as we approach target (we use 1/2 of maximum deceleration for gentle slow down)
-        const float des_vel_z_max = copter.avoid.get_max_speed(pos_control->get_pos_z_p().kP().get(), pos_control->get_accel_z() * 0.5f, fabsf(dist_vec_offs_neu.z), copter.G_Dt);
+        const float des_vel_z_max = copter.avoid.get_max_speed(pos_control->get_pos_z_p().kP().get(), pos_control->get_max_accel_z() * 0.5f, fabsf(dist_vec_offs_neu.z), copter.G_Dt);
         desired_velocity_neu_cms.z = constrain_float(desired_velocity_neu_cms.z, -des_vel_z_max, des_vel_z_max);
 
         // get avoidance adjusted climb rate

ArduCopter/mode_guided.cpp

@@ -103,12 +103,12 @@ void Copter::ModeGuided::vel_control_start()
     guided_mode = Guided_Velocity;
 
     // initialise horizontal speed, acceleration
-    pos_control->set_speed_xy(wp_nav->get_speed_xy());
-    pos_control->set_accel_xy(wp_nav->get_wp_acceleration());
+    pos_control->set_max_speed_xy(wp_nav->get_speed_xy());
+    pos_control->set_max_accel_xy(wp_nav->get_wp_acceleration());
 
     // initialize vertical speeds and acceleration
-    pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
-    pos_control->set_accel_z(g.pilot_accel_z);
+    pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
+    pos_control->set_max_accel_z(g.pilot_accel_z);
 
     // initialise velocity controller
     pos_control->init_vel_controller_xyz();
@@ -123,8 +123,8 @@ void Copter::ModeGuided::posvel_control_start()
     pos_control->init_xy_controller();
 
     // set speed and acceleration from wpnav's speed and acceleration
-    pos_control->set_speed_xy(wp_nav->get_speed_xy());
-    pos_control->set_accel_xy(wp_nav->get_wp_acceleration());
+    pos_control->set_max_speed_xy(wp_nav->get_speed_xy());
+    pos_control->set_max_accel_xy(wp_nav->get_wp_acceleration());
 
     const Vector3f& curr_pos = inertial_nav.get_position();
     const Vector3f& curr_vel = inertial_nav.get_velocity();
@@ -134,8 +134,8 @@ void Copter::ModeGuided::posvel_control_start()
     pos_control->set_desired_velocity_xy(curr_vel.x, curr_vel.y);
 
     // set vertical speed and acceleration
-    pos_control->set_speed_z(wp_nav->get_speed_down(), wp_nav->get_speed_up());
-    pos_control->set_accel_z(wp_nav->get_accel_z());
+    pos_control->set_max_speed_z(wp_nav->get_speed_down(), wp_nav->get_speed_up());
+    pos_control->set_max_accel_z(wp_nav->get_accel_z());
 
     // pilot always controls yaw
     auto_yaw.set_mode(AUTO_YAW_HOLD);
@@ -148,8 +148,8 @@ void Copter::ModeGuided::angle_control_start()
     guided_mode = Guided_Angle;
 
     // set vertical speed and acceleration
-    pos_control->set_speed_z(wp_nav->get_speed_down(), wp_nav->get_speed_up());
-    pos_control->set_accel_z(wp_nav->get_accel_z());
+    pos_control->set_max_speed_z(wp_nav->get_speed_down(), wp_nav->get_speed_up());
+    pos_control->set_max_accel_z(wp_nav->get_accel_z());
 
     // initialise position and desired velocity
     if (!pos_control->is_active_z()) {
@@ -650,7 +650,7 @@ void Copter::ModeGuided::set_desired_velocity_with_accel_and_fence_limits(const
 
     // limit xy change
     float vel_delta_xy = safe_sqrt(sq(vel_delta.x)+sq(vel_delta.y));
-    float vel_delta_xy_max = G_Dt * pos_control->get_accel_xy();
+    float vel_delta_xy_max = G_Dt * pos_control->get_max_accel_xy();
     float ratio_xy = 1.0f;
     if (!is_zero(vel_delta_xy) && (vel_delta_xy > vel_delta_xy_max)) {
         ratio_xy = vel_delta_xy_max / vel_delta_xy;
@@ -659,12 +659,12 @@ void Copter::ModeGuided::set_desired_velocity_with_accel_and_fence_limits(const
     curr_vel_des.y += (vel_delta.y * ratio_xy);
 
     // limit z change
-    float vel_delta_z_max = G_Dt * pos_control->get_accel_z();
+    float vel_delta_z_max = G_Dt * pos_control->get_max_accel_z();
     curr_vel_des.z += constrain_float(vel_delta.z, -vel_delta_z_max, vel_delta_z_max);
 
 #if AC_AVOID_ENABLED
     // limit the velocity to prevent fence violations
-    copter.avoid.adjust_velocity(pos_control->get_pos_xy_p().kP(), pos_control->get_accel_xy(), curr_vel_des, G_Dt);
+    copter.avoid.adjust_velocity(pos_control->get_pos_xy_p().kP(), pos_control->get_max_accel_xy(), curr_vel_des, G_Dt);
     // get avoidance adjusted climb rate
     curr_vel_des.z = get_avoidance_adjusted_climbrate(curr_vel_des.z);    
 #endif

ArduCopter/mode_land.cpp

@@ -19,8 +19,8 @@ bool Copter::ModeLand::init(bool ignore_checks)
     }
 
     // initialize vertical speeds and leash lengths
-    pos_control->set_speed_z(wp_nav->get_speed_down(), wp_nav->get_speed_up());
-    pos_control->set_accel_z(wp_nav->get_accel_z());
+    pos_control->set_max_speed_z(wp_nav->get_speed_down(), wp_nav->get_speed_up());
+    pos_control->set_max_accel_z(wp_nav->get_accel_z());
 
     // initialise position and desired velocity
     if (!pos_control->is_active_z()) {

ArduCopter/mode_loiter.cpp

@@ -84,8 +84,8 @@ void Copter::ModeLoiter::run()
     float takeoff_climb_rate = 0.0f;
 
     // initialize vertical speed and acceleration
-    pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
-    pos_control->set_accel_z(g.pilot_accel_z);
+    pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
+    pos_control->set_max_accel_z(g.pilot_accel_z);
 
     // process pilot inputs unless we are in radio failsafe
     if (!copter.failsafe.radio) {

ArduCopter/mode_poshold.cpp

@@ -78,8 +78,8 @@ bool Copter::ModePosHold::init(bool ignore_checks)
     }
     
     // initialize vertical speeds and acceleration
-    pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
-    pos_control->set_accel_z(g.pilot_accel_z);
+    pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
+    pos_control->set_max_accel_z(g.pilot_accel_z);
 
     // initialise position and desired velocity
     if (!pos_control->is_active_z()) {
@@ -132,8 +132,8 @@ void Copter::ModePosHold::run()
     const Vector3f& vel = inertial_nav.get_velocity();
 
     // initialize vertical speeds and acceleration
-    pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
-    pos_control->set_accel_z(g.pilot_accel_z);
+    pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
+    pos_control->set_max_accel_z(g.pilot_accel_z);
     loiter_nav->clear_pilot_desired_acceleration();
 
     // if not auto armed or motor interlock not enabled set throttle to zero and exit immediately

ArduCopter/mode_sport.cpp

@@ -8,8 +8,8 @@
 bool Copter::ModeSport::init(bool ignore_checks)
 {
     // initialize vertical speed and acceleration
-    pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
-    pos_control->set_accel_z(g.pilot_accel_z);
+    pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
+    pos_control->set_max_accel_z(g.pilot_accel_z);
 
     // initialise position and desired velocity
     if (!pos_control->is_active_z()) {
@@ -28,8 +28,8 @@ void Copter::ModeSport::run()
     float takeoff_climb_rate = 0.0f;
 
     // initialize vertical speed and acceleration
-    pos_control->set_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
-    pos_control->set_accel_z(g.pilot_accel_z);
+    pos_control->set_max_speed_z(-get_pilot_speed_dn(), g.pilot_speed_up);
+    pos_control->set_max_accel_z(g.pilot_accel_z);
 
     // apply SIMPLE mode transform
     update_simple_mode();

ArduCopter/mode_throw.cpp

@@ -56,8 +56,8 @@ void Copter::ModeThrow::run()
 
         // initialize vertical speed and acceleration limits
         // use brake mode values for rapid response
-        pos_control->set_speed_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z);
-        pos_control->set_accel_z(BRAKE_MODE_DECEL_RATE);
+        pos_control->set_max_speed_z(BRAKE_MODE_SPEED_Z, BRAKE_MODE_SPEED_Z);
+        pos_control->set_max_accel_z(BRAKE_MODE_DECEL_RATE);
 
         // initialise the demanded height to 3m above the throw height
         // we want to rapidly clear surrounding obstacles