Mirrors_Framework/ardupilot
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Copter: Address PR feedback

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This commit is contained in:
Leonard Hall
2025-08-07 08:48:18 +09:00
committed by Randy Mackay
parent a6d38197d1
commit 48c07d666d
10 changed files with 36 additions and 36 deletions
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ArduCopter/mode.cpp
+6 -6
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@@ -989,12 +989,12 @@ float Mode::get_pilot_desired_yaw_rate_rads() const
// pass-through functions to reduce code churn on conversion;
// these are candidates for moving into the Mode base
// class.
float Mode::get_pilot_desired_climb_rate_cms()
float Mode::get_pilot_desired_climb_rate_cms() const
{
return copter.get_pilot_desired_climb_rate_cms();
}
float Mode::get_non_takeoff_throttle()
float Mode::get_non_takeoff_throttle() const
{
return copter.get_non_takeoff_throttle();
}
@@ -1013,22 +1013,22 @@ void Mode::set_land_complete(bool b)
return copter.set_land_complete(b);
}
GCS_Copter &Mode::gcs()
GCS_Copter &Mode::gcs() const
{
return copter.gcs();
}
float Mode::get_pilot_speed_up_ms()
float Mode::get_pilot_speed_up_ms() const
{
return g.pilot_speed_up * 0.01;
}
float Mode::get_pilot_speed_dn_ms()
float Mode::get_pilot_speed_dn_ms() const
{
return copter.get_pilot_speed_dn() * 0.01;
}
float Mode::get_pilot_accel_mss()
float Mode::get_pilot_accel_U_mss() const
{
return g.pilot_accel_z * 0.01;
}
ArduCopter/mode.h
+7 -7
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@@ -393,15 +393,15 @@ public:
// pass-through functions to reduce code churn on conversion;
// these are candidates for moving into the Mode base
// class.
float get_pilot_desired_climb_rate_cms();
float get_non_takeoff_throttle(void);
void update_simple_mode(void);
float get_pilot_desired_climb_rate_cms() const;
float get_non_takeoff_throttle() const;
void update_simple_mode();
bool set_mode(Mode::Number mode, ModeReason reason);
void set_land_complete(bool b);
GCS_Copter &gcs();
float get_pilot_speed_up_ms(void);
float get_pilot_speed_dn_ms(void);
float get_pilot_accel_mss(void);
GCS_Copter &gcs() const;
float get_pilot_speed_up_ms() const;
float get_pilot_speed_dn_ms() const;
float get_pilot_accel_U_mss() const;
// end pass-through functions
};
ArduCopter/mode_althold.cpp
+3 -3
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@@ -15,8 +15,8 @@ bool ModeAltHold::init(bool ignore_checks)
}
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
return true;
}
@@ -26,7 +26,7 @@ bool ModeAltHold::init(bool ignore_checks)
void ModeAltHold::run()
{
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
ArduCopter/mode_autotune.cpp
+2 -2
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@@ -82,8 +82,8 @@ void AutoTune::get_pilot_desired_rp_yrate_rad(float &des_roll_rad, float &des_pi
void AutoTune::init_z_limits()
{
// set vertical speed and acceleration limits
copter.pos_control->set_max_speed_accel_U_m(-copter.flightmode->get_pilot_speed_dn_ms(), copter.flightmode->get_pilot_speed_up_ms(), copter.flightmode->get_pilot_accel_mss());
copter.pos_control->set_correction_speed_accel_U_m(-copter.flightmode->get_pilot_speed_dn_ms(), copter.flightmode->get_pilot_speed_up_ms(), copter.flightmode->get_pilot_accel_mss());
copter.pos_control->set_max_speed_accel_U_m(-copter.flightmode->get_pilot_speed_dn_ms(), copter.flightmode->get_pilot_speed_up_ms(), copter.flightmode->get_pilot_accel_U_mss());
copter.pos_control->set_correction_speed_accel_U_m(-copter.flightmode->get_pilot_speed_dn_ms(), copter.flightmode->get_pilot_speed_up_ms(), copter.flightmode->get_pilot_accel_U_mss());
}
#if HAL_LOGGING_ENABLED
ArduCopter/mode_circle.cpp
+3 -3
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@@ -15,8 +15,8 @@ bool ModeCircle::init(bool ignore_checks)
// set speed and acceleration limits
pos_control->set_max_speed_accel_NE_m(wp_nav->get_default_speed_NE_ms(), wp_nav->get_wp_acceleration_mss());
pos_control->set_correction_speed_accel_NE_m(wp_nav->get_default_speed_NE_ms(), wp_nav->get_wp_acceleration_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
// initialise circle controller including setting the circle center based on vehicle speed
copter.circle_nav->init();
@@ -48,7 +48,7 @@ void ModeCircle::run()
{
// set speed and acceleration limits
pos_control->set_max_speed_accel_NE_m(wp_nav->get_default_speed_NE_ms(), wp_nav->get_wp_acceleration_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
// Check for any change in params and update in real time
copter.circle_nav->check_param_change();
ArduCopter/mode_flowhold.cpp
+3 -3
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@@ -89,8 +89,8 @@ bool ModeFlowHold::init(bool ignore_checks)
}
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
// initialise the vertical position controller
if (!copter.pos_control->is_active_U()) {
@@ -233,7 +233,7 @@ void ModeFlowHold::run()
update_height_estimate();
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
ArduCopter/mode_loiter.cpp
+3 -3
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@@ -27,8 +27,8 @@ bool ModeLoiter::init(bool ignore_checks)
}
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
#if AC_PRECLAND_ENABLED
_precision_loiter_active = false;
@@ -84,7 +84,7 @@ void ModeLoiter::run()
float target_climb_rate_cms = 0.0f;
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
// apply SIMPLE mode transform to pilot inputs
update_simple_mode();
ArduCopter/mode_poshold.cpp
+3 -3
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@@ -25,8 +25,8 @@
bool ModePosHold::init(bool ignore_checks)
{
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
// initialise the vertical position controller
if (!pos_control->is_active_U()) {
@@ -75,7 +75,7 @@ void ModePosHold::run()
}
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
loiter_nav->clear_pilot_desired_acceleration();
// apply SIMPLE mode transform to pilot inputs
ArduCopter/mode_sport.cpp
+3 -3
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@@ -10,8 +10,8 @@
bool ModeSport::init(bool ignore_checks)
{
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
// initialise the vertical position controller
if (!pos_control->is_active_U()) {
@@ -26,7 +26,7 @@ bool ModeSport::init(bool ignore_checks)
void ModeSport::run()
{
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
// apply SIMPLE mode transform
update_simple_mode();
ArduCopter/mode_zigzag.cpp
+3 -3
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@@ -80,8 +80,8 @@ bool ModeZigZag::init(bool ignore_checks)
loiter_nav->init_target();
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
pos_control->set_correction_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
// initialise the vertical position controller
if (!pos_control->is_active_U()) {
@@ -111,7 +111,7 @@ void ModeZigZag::exit()
void ModeZigZag::run()
{
// set vertical speed and acceleration limits
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_mss());
pos_control->set_max_speed_accel_U_m(-get_pilot_speed_dn_ms(), get_pilot_speed_up_ms(), get_pilot_accel_U_mss());
// set the direction and the total number of lines
zigzag_direction = (Direction)constrain_int16(_direction, 0, 3);