From 050ae6f5485534abb3861a00a75b30af67c531f4 Mon Sep 17 00:00:00 2001
From: Felix Ruess <felix.ruess@gmail.com>
Date: Tue, 13 Mar 2012 03:27:20 +0100
Subject: [PATCH] fixedwing control new: fix guidance_v_n after Christophe made
 min/max auto cruise throttle vars to set via settings

---
 conf/settings/tuning_ctl_new.xml                        | 2 ++
 conf/settings/tuning_ins.xml                            | 2 +-
 sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c | 4 ++++
 3 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/conf/settings/tuning_ctl_new.xml b/conf/settings/tuning_ctl_new.xml
index 192fdb2fe5..3b87c1c32d 100644
--- a/conf/settings/tuning_ctl_new.xml
+++ b/conf/settings/tuning_ctl_new.xml
@@ -42,6 +42,8 @@
           <strip_button name="AS" value="1" group="speed_mode"/>
           <strip_button name="GS" value="2" group="speed_mode"/>
         </dl_setting>
+        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_min_cruise_throttle" shortname="min cruise thr" module="guidance/guidance_v" param="V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE"/>
+        <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_max_cruise_throttle" shortname="max cruise thr" module="guidance/guidance_v" param="V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE"/>
         <dl_setting MAX="1" MIN="0.0" STEP="0.05" VAR="v_ctl_auto_throttle_cruise_throttle" shortname="cruise throttle" module="guidance/guidance_v" handler="SetCruiseThrottle" param="V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE"/>
 
         <dl_setting MAX="0" MIN="-0.1" STEP="0.001" VAR="v_ctl_auto_pitch_pgain" shortname="pitch_p" param="V_CTL_AUTO_PITCH_PGAIN"/>
diff --git a/conf/settings/tuning_ins.xml b/conf/settings/tuning_ins.xml
index c7a7e30b22..57af459d9b 100644
--- a/conf/settings/tuning_ins.xml
+++ b/conf/settings/tuning_ins.xml
@@ -57,7 +57,7 @@
       </dl_settings>
 
       <dl_settings name="alt">
-        <dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN"/>
+        <dl_setting MAX="0" MIN="-0.2" STEP="0.01" VAR="v_ctl_altitude_pgain" shortname="alt_pgain" param="V_CTL_ALTITUDE_PGAIN" module="guidance/guidance_v"/>
         <dl_setting MAX="10" MIN="0.1" STEP="0.1" VAR="v_ctl_altitude_max_climb" shortname="max climb" param="V_CTL_ALTITUDE_MAX_CLIMB"/>
         <dl_setting MAX="2" MIN="0.0" STEP="0.05" VAR="v_ctl_altitude_pre_climb_correction" shortname="pre climb cor" param="V_CTL_ALTITUDE_PRE_CLIMB_CORRECTION"/>
       </dl_settings>
diff --git a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
index b036b03399..38b90db444 100644
--- a/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
+++ b/sw/airborne/firmwares/fixedwing/guidance/guidance_v_n.c
@@ -52,6 +52,8 @@ uint8_t v_ctl_auto_throttle_submode;
 /* "auto throttle" inner loop parameters */
 float v_ctl_auto_throttle_cruise_throttle;
 float v_ctl_auto_throttle_nominal_cruise_throttle;
+float v_ctl_auto_throttle_min_cruise_throttle;
+float v_ctl_auto_throttle_max_cruise_throttle;
 float v_ctl_auto_throttle_climb_throttle_increment;
 float v_ctl_auto_throttle_pgain;
 float v_ctl_auto_throttle_igain;
@@ -128,6 +130,8 @@ void v_ctl_init( void ) {
   /* "auto throttle" inner loop parameters */
   v_ctl_auto_throttle_nominal_cruise_throttle = V_CTL_AUTO_THROTTLE_NOMINAL_CRUISE_THROTTLE;
   v_ctl_auto_throttle_cruise_throttle = v_ctl_auto_throttle_nominal_cruise_throttle;
+  v_ctl_auto_throttle_min_cruise_throttle = V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE;
+  v_ctl_auto_throttle_max_cruise_throttle = V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE;
   v_ctl_auto_throttle_climb_throttle_increment = V_CTL_AUTO_THROTTLE_CLIMB_THROTTLE_INCREMENT;
   v_ctl_auto_throttle_pgain = V_CTL_AUTO_THROTTLE_PGAIN;
   v_ctl_auto_throttle_igain = V_CTL_AUTO_THROTTLE_IGAIN;