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Sub: AC_PosControl: Fix units on set_correction_speed_accel_U

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This commit is contained in:
Leonard Hall
2025-08-05 11:04:37 +09:00
committed by Randy Mackay
parent f9735e68eb
commit 071ddb88ff
6 changed files with 8 additions and 8 deletions
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ArduSub/mode_althold.cpp
+1 -1
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@@ -9,7 +9,7 @@ bool ModeAlthold::init(bool ignore_checks) {
// initialize vertical maximum speeds and acceleration
// sets the maximum speed up and down returned by position controller
position_control->set_max_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
position_control->set_correction_speed_accel_U_cmss(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
position_control->set_correction_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
// initialise position and desired velocity
position_control->init_U_controller();
ArduSub/mode_auto.cpp
+1 -1
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@@ -459,7 +459,7 @@ bool ModeAuto::auto_terrain_recover_start()
// initialize vertical maximum speeds and acceleration
position_control->set_max_speed_accel_U_cm(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
position_control->set_correction_speed_accel_U_cmss(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
position_control->set_correction_speed_accel_U_cm(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
gcs().send_text(MAV_SEVERITY_WARNING, "Attempting auto failsafe recovery");
return true;
ArduSub/mode_circle.cpp
+1 -1
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@@ -17,7 +17,7 @@ bool ModeCircle::init(bool ignore_checks)
position_control->set_max_speed_accel_NE_cm(sub.wp_nav.get_default_speed_NE_cms(), sub.wp_nav.get_wp_acceleration_cmss());
position_control->set_correction_speed_accel_NE_cm(sub.wp_nav.get_default_speed_NE_cms(), sub.wp_nav.get_wp_acceleration_cmss());
position_control->set_max_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
position_control->set_correction_speed_accel_U_cmss(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
position_control->set_correction_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
// initialise circle controller including setting the circle center based on vehicle speed
sub.circle_nav.init();
ArduSub/mode_guided.cpp
+3 -3
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@@ -105,7 +105,7 @@ void ModeGuided::guided_vel_control_start()
// initialize vertical maximum speeds and acceleration
position_control->set_max_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
position_control->set_correction_speed_accel_U_cmss(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
position_control->set_correction_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
// initialise velocity controller
position_control->init_U_controller();
@@ -124,7 +124,7 @@ void ModeGuided::guided_posvel_control_start()
// set vertical speed and acceleration
position_control->set_max_speed_accel_U_cm(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
position_control->set_correction_speed_accel_U_cmss(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
position_control->set_correction_speed_accel_U_cm(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
// initialise velocity controller
position_control->init_U_controller();
@@ -143,7 +143,7 @@ void ModeGuided::guided_angle_control_start()
// set vertical speed and acceleration
position_control->set_max_speed_accel_U_cm(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
position_control->set_correction_speed_accel_U_cmss(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
position_control->set_correction_speed_accel_U_cm(sub.wp_nav.get_default_speed_down_cms(), sub.wp_nav.get_default_speed_up_cms(), sub.wp_nav.get_accel_U_cmss());
// initialise velocity controller
position_control->init_U_controller();
ArduSub/mode_poshold.cpp
+1 -1
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@@ -18,7 +18,7 @@ bool ModePoshold::init(bool ignore_checks)
position_control->set_max_speed_accel_NE_cm(g.pilot_speed, g.pilot_accel_z);
position_control->set_correction_speed_accel_NE_cm(g.pilot_speed, g.pilot_accel_z);
position_control->set_max_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
position_control->set_correction_speed_accel_U_cmss(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
position_control->set_correction_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
// initialise position and desired velocity
position_control->init_NE_controller_stopping_point();
ArduSub/mode_surface.cpp
+1 -1
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@@ -7,7 +7,7 @@ bool ModeSurface::init(bool ignore_checks)
// initialize vertical speeds and acceleration
position_control->set_max_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
position_control->set_correction_speed_accel_U_cmss(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
position_control->set_correction_speed_accel_U_cm(-sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
// initialise position and desired velocity
position_control->init_U_controller();