From a967caa92459d23591fc5cff5602d796b276cc2d Mon Sep 17 00:00:00 2001
From: IamPete1 <33176108+IamPete1@users.noreply.github.com>
Date: Sun, 10 Mar 2019 10:53:28 +0000
Subject: [PATCH] Tracker: add parameters for yaw and pitch scan speed

---
 AntennaTracker/Parameters.cpp   | 27 ++++++++++++++++++---------
 AntennaTracker/Parameters.h     |  7 +++++--
 AntennaTracker/control_scan.cpp |  4 ++--
 3 files changed, 25 insertions(+), 13 deletions(-)

diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp
index c27bf4df54..20c5eab1ae 100644
--- a/AntennaTracker/Parameters.cpp
+++ b/AntennaTracker/Parameters.cpp
@@ -64,15 +64,6 @@ const AP_Param::Info Tracker::var_info[] = {
     // @User: Standard
     GSCALAR(pitch_slew_time,        "PITCH_SLEW_TIME",  2),
 
-    // @Param: SCAN_SPEED
-    // @DisplayName: Speed at which to rotate in scan mode
-    // @Description: This controls how rapidly the tracker will move the servos in SCAN mode
-    // @Units: deg/s
-    // @Increment: 1
-    // @Range: 0 100
-    // @User: Standard
-    GSCALAR(scan_speed,             "SCAN_SPEED",      5),
-
     // @Param: MIN_REVERSE_TIME
     // @DisplayName: Minimum time to apply a yaw reversal
     // @Description: When the tracker detects it has reached the limit of servo movement in yaw it will reverse and try moving to the other extreme of yaw. This parameter controls the minimum time it should reverse for. It is used to cope with trackers that have a significant lag in movement to ensure they do move all the way around.
@@ -394,6 +385,24 @@ const AP_Param::Info Tracker::var_info[] = {
     // @Bitmask: 0:Pitch,1:Yaw
     GSCALAR(gcs_pid_mask,           "GCS_PID_MASK",     0),
 
+    // @Param: SCAN_SPEED_YAW
+    // @DisplayName: Speed at which to rotate the yaw axis in scan mode
+    // @Description: This controls how rapidly the tracker will move the servos in SCAN mode
+    // @Units: deg/s
+    // @Increment: 1
+    // @Range: 0 100
+    // @User: Standard
+    GSCALAR(scan_speed_yaw,         "SCAN_SPEED_YAW",   2),
+
+    // @Param: SCAN_SPEED_PIT
+    // @DisplayName: Speed at which to rotate pitch axis in scan mode
+    // @Description: This controls how rapidly the tracker will move the servos in SCAN mode
+    // @Units: deg/s
+    // @Increment: 1
+    // @Range: 0 100
+    // @User: Standard
+    GSCALAR(scan_speed_pitch,       "SCAN_SPEED_PIT",   5),
+
     AP_VAREND
 };
 
diff --git a/AntennaTracker/Parameters.h b/AntennaTracker/Parameters.h
index 198c660df4..b0d7ad438b 100644
--- a/AntennaTracker/Parameters.h
+++ b/AntennaTracker/Parameters.h
@@ -69,7 +69,7 @@ public:
         k_param_startup_delay,
         k_param_BoardConfig,
         k_param_gps,
-        k_param_scan_speed,
+        k_param_scan_speed_unused, // deprecated
         k_param_proxy_mode_unused, // deprecated
         k_param_servo_pitch_type,
         k_param_onoff_yaw_rate,
@@ -117,6 +117,8 @@ public:
 
         // 254,255: reserved
         k_param_gcs_pid_mask = 225,
+        k_param_scan_speed_yaw,
+        k_param_scan_speed_pitch,
     };
 
     AP_Int16 format_version;
@@ -132,7 +134,8 @@ public:
     AP_Float yaw_slew_time;
     AP_Float pitch_slew_time;
     AP_Float min_reverse_time;
-    AP_Float scan_speed;
+    AP_Int16 scan_speed_yaw;
+    AP_Int16 scan_speed_pitch;
 
     AP_Float start_latitude;
     AP_Float start_longitude;
diff --git a/AntennaTracker/control_scan.cpp b/AntennaTracker/control_scan.cpp
index 1932aacbd2..21363e0307 100644
--- a/AntennaTracker/control_scan.cpp
+++ b/AntennaTracker/control_scan.cpp
@@ -11,7 +11,7 @@
 void Tracker::update_scan(void)
 {
     if (!nav_status.manual_control_yaw) {
-        float yaw_delta = g.scan_speed * 0.02f;
+        float yaw_delta = g.scan_speed_yaw * 0.02f;
         nav_status.bearing   += yaw_delta   * (nav_status.scan_reverse_yaw?-1:1);
         if (nav_status.bearing < 0 && nav_status.scan_reverse_yaw) {
             nav_status.scan_reverse_yaw = false;
@@ -23,7 +23,7 @@ void Tracker::update_scan(void)
     }
 
     if (!nav_status.manual_control_pitch) {
-        float pitch_delta = g.scan_speed * 0.02f;
+        float pitch_delta = g.scan_speed_pitch * 0.02f;
         nav_status.pitch += pitch_delta * (nav_status.scan_reverse_pitch?-1:1);
         if (nav_status.pitch < -90 && nav_status.scan_reverse_pitch) {
             nav_status.scan_reverse_pitch = false;