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Auto - Rename MC_YAWRAUTO_MAX -> MPC_YAWRAUTO_MAX

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This commit is contained in:
bresch
2019-04-26 12:43:26 +02:00
committed by Lorenz Meier
parent 581d25f77f
commit 89bc68e12b
11 changed files with 27 additions and 25 deletions
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src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp
+2 -2
View File
@@ -113,7 +113,7 @@ void FlightTaskAuto::_limitYawRate()
{
if (PX4_ISFINITE(_yaw_setpoint) || PX4_ISFINITE(_yaw_sp_prev)) {
// Limit the rate of change of the yaw setpoint
float dy_max = math::radians(_param_mc_yawrauto_max.get()) * _deltatime;
float dy_max = math::radians(_param_mpc_yawrauto_max.get()) * _deltatime;
if (fabsf(_yaw_setpoint - _yaw_sp_prev) < M_PI_F) {
// Wrap around 0
@@ -134,7 +134,7 @@ void FlightTaskAuto::_limitYawRate()
}
if (PX4_ISFINITE(_yawspeed_setpoint)) {
_yawspeed_setpoint = math::constrain(_yawspeed_setpoint, -_param_mc_yawrauto_max.get(), _param_mc_yawrauto_max.get());
_yawspeed_setpoint = math::constrain(_yawspeed_setpoint, -_param_mpc_yawrauto_max.get(), _param_mpc_yawrauto_max.get());
}
}
src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.hpp
+1 -1
View File
@@ -113,7 +113,7 @@ protected:
_param_nav_mc_alt_rad, //vertical acceptance radius at which waypoints are updated
(ParamInt<px4::params::MPC_YAW_MODE>) _param_mpc_yaw_mode, // defines how heading is executed,
(ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid, // obstacle avoidance active
(ParamFloat<px4::params::MC_YAWRAUTO_MAX>) _param_mc_yawrauto_max
(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max
);
private: