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Rover: add unit and axis suffixes to virtual function parameters

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This commit is contained in:
Leonard Hall
2026-02-10 05:47:01 -08:00
committed by Randy Mackay
parent 7820b805d5
commit 80ed0ddea4
8 changed files with 34 additions and 34 deletions
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Rover/Rover.cpp
+8 -8
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@@ -172,7 +172,7 @@ bool Rover::set_target_location(const Location& target_loc)
#if AP_SCRIPTING_ENABLED
// set target velocity (for use by scripting)
bool Rover::set_target_velocity_NED(const Vector3f& vel_ned, bool align_yaw_to_target)
bool Rover::set_target_velocity_NED(const Vector3f& vel_ned_ms, bool align_yaw_to_target)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!control_mode->in_guided_mode()) {
@@ -180,13 +180,13 @@ bool Rover::set_target_velocity_NED(const Vector3f& vel_ned, bool align_yaw_to_t
}
// convert vector length into speed
const float target_speed_m = safe_sqrt(sq(vel_ned.x) + sq(vel_ned.y));
const float target_speed_ms = safe_sqrt(sq(vel_ned_ms.x) + sq(vel_ned_ms.y));
// convert vector direction to target yaw
const float target_yaw_cd = degrees(atan2f(vel_ned.y, vel_ned.x)) * 100.0f;
const float target_yaw_cd = degrees(atan2f(vel_ned_ms.y, vel_ned_ms.x)) * 100.0f;
// send target heading and speed
mode_guided.set_desired_heading_and_speed(target_yaw_cd, target_speed_m);
mode_guided.set_desired_heading_and_speed(target_yaw_cd, target_speed_ms);
return true;
}
@@ -213,7 +213,7 @@ bool Rover::get_steering_and_throttle(float& steering, float& throttle)
}
// set desired turn rate (degrees/sec) and speed (m/s). Used for scripting
bool Rover::set_desired_turn_rate_and_speed(float turn_rate, float speed)
bool Rover::set_desired_turn_rate_and_speed(float turn_rate_degs, float speed_ms)
{
// exit if vehicle is not in Guided mode or Auto-Guided mode
if (!control_mode->in_guided_mode()) {
@@ -221,14 +221,14 @@ bool Rover::set_desired_turn_rate_and_speed(float turn_rate, float speed)
}
// set turn rate and speed. Turn rate is expected in centidegrees/s and speed in meters/s
mode_guided.set_desired_turn_rate_and_speed(turn_rate * 100.0f, speed);
mode_guided.set_desired_turn_rate_and_speed(turn_rate_degs * 100.0f, speed_ms);
return true;
}
// set desired nav speed (m/s). Used for scripting.
bool Rover::set_desired_speed(float speed)
bool Rover::set_desired_speed(float speed_ms)
{
return control_mode->set_desired_speed(speed);
return control_mode->set_desired_speed(speed_ms);
}
// get control output (for use in scripting)
Rover/Rover.h
+3 -3
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@@ -268,12 +268,12 @@ private:
#endif
#if AP_SCRIPTING_ENABLED
bool set_target_velocity_NED(const Vector3f& vel_ned, bool align_yaw_to_target) override;
bool set_target_velocity_NED(const Vector3f& vel_ned_ms, bool align_yaw_to_target) override;
bool set_steering_and_throttle(float steering, float throttle) override;
bool get_steering_and_throttle(float& steering, float& throttle) override;
// set desired turn rate (degrees/sec) and speed (m/s). Used for scripting
bool set_desired_turn_rate_and_speed(float turn_rate, float speed) override;
bool set_desired_speed(float speed) override;
bool set_desired_turn_rate_and_speed(float turn_rate_degs, float speed_ms) override;
bool set_desired_speed(float speed_ms) override;
bool get_control_output(AP_Vehicle::ControlOutput control_output, float &control_value) override;
bool nav_scripting_enable(uint8_t mode) override;
bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2, int16_t &arg3, int16_t &arg4) override;
Rover/mode.h
+6 -6
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@@ -123,7 +123,7 @@ public:
float get_speed_default(bool rtl = false) const;
// set desired speed in m/s
virtual bool set_desired_speed(float speed) { return false; }
virtual bool set_desired_speed(float speed_ms) { return false; }
// execute the mission in reverse (i.e. backing up)
void set_reversed(bool value);
@@ -277,7 +277,7 @@ public:
bool reached_destination() const override;
// set desired speed in m/s
bool set_desired_speed(float speed) override;
bool set_desired_speed(float speed_ms) override;
// start RTL (within auto)
void start_RTL();
@@ -545,7 +545,7 @@ public:
bool reached_destination() const override;
// set desired speed in m/s
bool set_desired_speed(float speed) override;
bool set_desired_speed(float speed_ms) override;
// get or set desired location
bool get_desired_location(Location& destination) const override WARN_IF_UNUSED;
@@ -722,7 +722,7 @@ public:
bool reached_destination() const override;
// set desired speed in m/s
bool set_desired_speed(float speed) override;
bool set_desired_speed(float speed_ms) override;
protected:
@@ -758,7 +758,7 @@ public:
bool reached_destination() const override { return smart_rtl_state == SmartRTLState::StopAtHome; }
// set desired speed in m/s
bool set_desired_speed(float speed) override;
bool set_desired_speed(float speed_ms) override;
// save current position for use by the smart_rtl flight mode
void save_position();
@@ -854,7 +854,7 @@ public:
float get_distance_to_destination() const override;
// set desired speed in m/s
bool set_desired_speed(float speed) override;
bool set_desired_speed(float speed_ms) override;
protected:
Rover/mode_auto.cpp
+7 -7
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@@ -349,24 +349,24 @@ bool ModeAuto::reached_destination() const
}
// set desired speed in m/s
bool ModeAuto::set_desired_speed(float speed)
bool ModeAuto::set_desired_speed(float speed_ms)
{
switch (_submode) {
case SubMode::WP:
case SubMode::Stop:
return g2.wp_nav.set_speed_max(speed);
return g2.wp_nav.set_speed_max(speed_ms);
case SubMode::HeadingAndSpeed:
_desired_speed = speed;
_desired_speed = speed_ms;
return true;
case SubMode::RTL:
return rover.mode_rtl.set_desired_speed(speed);
return rover.mode_rtl.set_desired_speed(speed_ms);
case SubMode::Loiter:
return rover.mode_loiter.set_desired_speed(speed);
return rover.mode_loiter.set_desired_speed(speed_ms);
case SubMode::Guided:
case SubMode::NavScriptTime:
return rover.mode_guided.set_desired_speed(speed);
return rover.mode_guided.set_desired_speed(speed_ms);
case SubMode::Circle:
return g2.mode_circle.set_desired_speed(speed);
return g2.mode_circle.set_desired_speed(speed_ms);
}
return false;
}
Rover/mode_follow.cpp
+3 -3
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@@ -94,12 +94,12 @@ float ModeFollow::get_distance_to_destination() const
}
// set desired speed in m/s
bool ModeFollow::set_desired_speed(float speed)
bool ModeFollow::set_desired_speed(float speed_ms)
{
if (is_negative(speed)) {
if (is_negative(speed_ms)) {
return false;
}
_desired_speed = speed;
_desired_speed = speed_ms;
return true;
}
Rover/mode_guided.cpp
+3 -3
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@@ -257,17 +257,17 @@ bool ModeGuided::reached_destination() const
}
// set desired speed in m/s
bool ModeGuided::set_desired_speed(float speed)
bool ModeGuided::set_desired_speed(float speed_ms)
{
switch (_guided_mode) {
case SubMode::WP:
return g2.wp_nav.set_speed_max(speed);
return g2.wp_nav.set_speed_max(speed_ms);
case SubMode::HeadingAndSpeed:
case SubMode::TurnRateAndSpeed:
// speed is set from mavlink message
return false;
case SubMode::Loiter:
return rover.mode_loiter.set_desired_speed(speed);
return rover.mode_loiter.set_desired_speed(speed_ms);
case SubMode::SteeringAndThrottle:
case SubMode::Stop:
// no speed control
Rover/mode_rtl.cpp
+2 -2
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@@ -78,7 +78,7 @@ bool ModeRTL::reached_destination() const
}
// set desired speed in m/s
bool ModeRTL::set_desired_speed(float speed)
bool ModeRTL::set_desired_speed(float speed_ms)
{
return g2.wp_nav.set_speed_max(speed);
return g2.wp_nav.set_speed_max(speed_ms);
}
Rover/mode_smart_rtl.cpp
+2 -2
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@@ -124,9 +124,9 @@ bool ModeSmartRTL::get_desired_location(Location& destination) const
}
// set desired speed in m/s
bool ModeSmartRTL::set_desired_speed(float speed)
bool ModeSmartRTL::set_desired_speed(float speed_ms)
{
return g2.wp_nav.set_speed_max(speed);
return g2.wp_nav.set_speed_max(speed_ms);
}
// save current position for use by the smart_rtl flight mode