Sub: integrate AC_WPNav::get_speed rename to get_default_speed

ArduSub/GCS_Mavlink.cpp

@@ -904,10 +904,10 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
             climb_rate_cms = 0.0f;
         } else if (packet.thrust > 0.5f) {
             // climb at up to WPNAV_SPEED_UP
-            climb_rate_cms = (packet.thrust - 0.5f) * 2.0f * sub.wp_nav.get_speed_up();
+            climb_rate_cms = (packet.thrust - 0.5f) * 2.0f * sub.wp_nav.get_default_speed_up();
         } else {
             // descend at up to WPNAV_SPEED_DN
-            climb_rate_cms = (packet.thrust - 0.5f) * 2.0f * fabsf(sub.wp_nav.get_speed_down());
+            climb_rate_cms = (packet.thrust - 0.5f) * 2.0f * fabsf(sub.wp_nav.get_default_speed_down());
         }
         sub.guided_set_angle(Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]), climb_rate_cms);
         break;

ArduSub/control_auto.cpp

@@ -653,7 +653,7 @@ bool Sub::auto_terrain_recover_start()
     pos_control.relax_alt_hold_controllers(motors.get_throttle_hover());
 
     // initialize vertical speeds and leash lengths
-    pos_control.set_max_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up());
+    pos_control.set_max_speed_z(wp_nav.get_default_speed_down(), wp_nav.get_default_speed_up());
     pos_control.set_max_accel_z(wp_nav.get_accel_z());
 
     // Reset vertical position and velocity targets
@@ -682,12 +682,12 @@ void Sub::auto_terrain_recover_run()
     switch (rangefinder.status_orient(ROTATION_PITCH_270)) {
 
     case RangeFinder::RangeFinder_OutOfRangeLow:
-        target_climb_rate = wp_nav.get_speed_up();
+        target_climb_rate = wp_nav.get_default_speed_up();
         rangefinder_recovery_ms = 0;
         break;
 
     case RangeFinder::RangeFinder_OutOfRangeHigh:
-        target_climb_rate = wp_nav.get_speed_down();
+        target_climb_rate = wp_nav.get_default_speed_down();
         rangefinder_recovery_ms = 0;
         break;
 

ArduSub/control_circle.cpp

@@ -14,7 +14,7 @@ bool Sub::circle_init()
     circle_pilot_yaw_override = false;
 
     // initialize speeds and accelerations
-    pos_control.set_max_speed_xy(wp_nav.get_speed_xy());
+    pos_control.set_max_speed_xy(wp_nav.get_default_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);
@@ -33,7 +33,7 @@ void Sub::circle_run()
     float target_climb_rate = 0;
 
     // update parameters, to allow changing at runtime
-    pos_control.set_max_speed_xy(wp_nav.get_speed_xy());
+    pos_control.set_max_speed_xy(wp_nav.get_default_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);

ArduSub/control_guided.cpp

@@ -92,7 +92,7 @@ void Sub::guided_posvel_control_start()
     pos_control.init_xy_controller();
 
     // set speed and acceleration from wpnav's speed and acceleration
-    pos_control.set_max_speed_xy(wp_nav.get_speed_xy());
+    pos_control.set_max_speed_xy(wp_nav.get_default_speed_xy());
     pos_control.set_max_accel_xy(wp_nav.get_wp_acceleration());
 
     const Vector3f& curr_pos = inertial_nav.get_position();
@@ -103,7 +103,7 @@ void Sub::guided_posvel_control_start()
     pos_control.set_desired_velocity_xy(curr_vel.x, curr_vel.y);
 
     // set vertical speed and acceleration
-    pos_control.set_max_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up());
+    pos_control.set_max_speed_z(wp_nav.get_default_speed_down(), wp_nav.get_default_speed_up());
     pos_control.set_max_accel_z(wp_nav.get_accel_z());
 
     // pilot always controls yaw
@@ -117,7 +117,7 @@ void Sub::guided_angle_control_start()
     guided_mode = Guided_Angle;
 
     // set vertical speed and acceleration
-    pos_control.set_max_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up());
+    pos_control.set_max_speed_z(wp_nav.get_default_speed_down(), wp_nav.get_default_speed_up());
     pos_control.set_max_accel_z(wp_nav.get_accel_z());
 
     // initialise position and desired velocity
@@ -490,7 +490,7 @@ void Sub::guided_angle_control_run()
     float yaw_in = wrap_180_cd(guided_angle_state.yaw_cd);
 
     // constrain climb rate
-    float climb_rate_cms = constrain_float(guided_angle_state.climb_rate_cms, -fabsf(wp_nav.get_speed_down()), wp_nav.get_speed_up());
+    float climb_rate_cms = constrain_float(guided_angle_state.climb_rate_cms, -fabsf(wp_nav.get_default_speed_down()), wp_nav.get_default_speed_up());
 
     // check for timeout - set lean angles and climb rate to zero if no updates received for 3 seconds
     uint32_t tnow = AP_HAL::millis();

ArduSub/control_surface.cpp

@@ -8,7 +8,7 @@ bool Sub::surface_init()
     }
 
     // initialize vertical speeds and leash lengths
-    pos_control.set_max_speed_z(wp_nav.get_speed_down(), wp_nav.get_speed_up());
+    pos_control.set_max_speed_z(wp_nav.get_default_speed_down(), wp_nav.get_default_speed_up());
     pos_control.set_max_accel_z(wp_nav.get_accel_z());
 
     // initialise position and desired velocity
@@ -48,7 +48,7 @@ void Sub::surface_run()
     attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
 
     // set target climb rate
-    float cmb_rate = constrain_float(abs(wp_nav.get_speed_up()), 1, pos_control.get_max_speed_up());
+    float cmb_rate = constrain_float(abs(wp_nav.get_default_speed_up()), 1, pos_control.get_max_speed_up());
 
     // record desired climb rate for logging
     desired_climb_rate = cmb_rate;