From 80ed0ddea475f4be5e953b9adc900cbc0413ea3e Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Sun, 8 Feb 2026 17:32:22 +1030 Subject: [PATCH] Rover: add unit and axis suffixes to virtual function parameters --- Rover/Rover.cpp | 16 ++++++++-------- Rover/Rover.h | 6 +++--- Rover/mode.h | 12 ++++++------ Rover/mode_auto.cpp | 14 +++++++------- Rover/mode_follow.cpp | 6 +++--- Rover/mode_guided.cpp | 6 +++--- Rover/mode_rtl.cpp | 4 ++-- Rover/mode_smart_rtl.cpp | 4 ++-- 8 files changed, 34 insertions(+), 34 deletions(-) diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp index d676be98983..4535d8b1483 100644 --- a/Rover/Rover.cpp +++ b/Rover/Rover.cpp @@ -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) diff --git a/Rover/Rover.h b/Rover/Rover.h index e43a1cfeed0..2b4b4d2cb2d 100644 --- a/Rover/Rover.h +++ b/Rover/Rover.h @@ -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; diff --git a/Rover/mode.h b/Rover/mode.h index c8176c7e306..7d025c6bdc4 100644 --- a/Rover/mode.h +++ b/Rover/mode.h @@ -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: diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp index bafdbb47f03..54615ff8caf 100644 --- a/Rover/mode_auto.cpp +++ b/Rover/mode_auto.cpp @@ -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; } diff --git a/Rover/mode_follow.cpp b/Rover/mode_follow.cpp index 3e4d2660a92..f9dd34db204 100644 --- a/Rover/mode_follow.cpp +++ b/Rover/mode_follow.cpp @@ -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; } diff --git a/Rover/mode_guided.cpp b/Rover/mode_guided.cpp index 8b9c3385ded..ea269753117 100644 --- a/Rover/mode_guided.cpp +++ b/Rover/mode_guided.cpp @@ -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 diff --git a/Rover/mode_rtl.cpp b/Rover/mode_rtl.cpp index 9b38a6ee84e..8131088eb46 100644 --- a/Rover/mode_rtl.cpp +++ b/Rover/mode_rtl.cpp @@ -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); } diff --git a/Rover/mode_smart_rtl.cpp b/Rover/mode_smart_rtl.cpp index 549a18b54ef..f96388c4ca5 100644 --- a/Rover/mode_smart_rtl.cpp +++ b/Rover/mode_smart_rtl.cpp @@ -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