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Sub: NEU to NED renaming - No compiler change

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This commit is contained in:
Leonard Hall
2025-12-17 08:03:10 +09:00
committed by Randy Mackay
parent 77bedee55a
commit 6419f811f9
9 changed files with 80 additions and 80 deletions
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ArduSub/mode_surface.cpp
+6 -6
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@@ -7,11 +7,11 @@ bool ModeSurface::init(bool ignore_checks)
// initialize vertical speeds and acceleration
// All limits must be positive
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_cm(sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
position_control->D_set_max_speed_accel_cm(sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
position_control->D_set_correction_speed_accel_cm(sub.get_pilot_speed_dn(), g.pilot_speed_up, g.pilot_accel_z);
// initialise position and desired velocity
position_control->init_U_controller();
position_control->D_init_controller();
return true;
@@ -27,7 +27,7 @@ void ModeSurface::run()
motors.set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
attitude_control->set_throttle_out(0,true,g.throttle_filt);
attitude_control->relax_attitude_controllers();
position_control->init_U_controller();
position_control->D_init_controller();
return;
}
@@ -55,8 +55,8 @@ void ModeSurface::run()
float cmb_rate_cms = constrain_float(fabsf(sub.wp_nav.get_default_speed_up_cms()), 1, position_control->get_max_speed_up_cms());
// update altitude target and call position controller
position_control->set_pos_target_U_from_climb_rate_cms(cmb_rate_cms);
position_control->update_U_controller();
position_control->D_set_pos_target_from_climb_rate_cms(cmb_rate_cms);
position_control->D_update_controller();
}
// pilot has control for repositioning
motors.set_forward(channel_forward->norm_input());