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Sub: Replace sport mode with transect mode

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This commit is contained in:
Jacob Walser 2016-08-31 18:37:57 -04:00 committed by Andrew Tridgell
parent 3997bbcd8c
commit e844e28a77
4 changed files with 22 additions and 3 deletions
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2
ArduSub/GCS_Mavlink.cpp
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@ -323,7 +323,7 @@ void NOINLINE Sub::send_nav_controller_output(mavlink_channel_t chan)
wp_distance / 1.0e2f,
pos_control.get_alt_error() / 1.0e2f,
0,
0);
gps.crosstrack_error());
}
// report simulator state

4
ArduSub/Parameters.cpp
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@ -775,6 +775,10 @@ const AP_Param::Info Sub::var_info[] = {
// @User: Standard
GGROUP(p_pos_xy, "POS_XY_", AC_P),
GGROUP(pid_crosstrack_control, "XTRACK_", AC_PID),
GGROUP(pid_heading_control, "HEAD_", AC_PID),
// variables not in the g class which contain EEPROM saved variables
#if CAMERA == ENABLED

17
ArduSub/Parameters.h
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@ -387,6 +387,9 @@ public:
k_param_jbtn_14,
k_param_jbtn_15, // 276
k_param_pid_crosstrack_control,
k_param_pid_heading_control,
k_param_water_detector, // water detector object
k_param_failsafe_leak, // leak failsafe behavior
};
@ -535,6 +538,13 @@ public:
AC_P p_pos_xy;
AC_P p_alt_hold;
AC_PID pid_crosstrack_control;
AC_PID pid_heading_control;
// Autotune
AP_Int8 autotune_axis_bitmask;
AP_Float autotune_aggressiveness;
@ -572,7 +582,12 @@ public:
//----------------------------------------------------------------------
p_pos_xy (POS_XY_P),
p_alt_hold (ALT_HOLD_P)
p_alt_hold (ALT_HOLD_P),
pid_crosstrack_control (XTRACK_P, XTRACK_I, XTRACK_D, XTRACK_IMAX, XTRACK_FILT_HZ, XTRACK_DT),
pid_heading_control (HEAD_P, HEAD_I, HEAD_D, HEAD_IMAX, HEAD_FILT_HZ, HEAD_DT)
{
}
};

2
ArduSub/control_stabilize.cpp
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@ -57,7 +57,7 @@ void Sub::stabilize_run()
// call attitude controller
// update attitude controller targets
if (target_yaw_rate != 0) { // call attitude controller with rate yaw determined by pilot input
if (!is_zero(target_yaw_rate)) { // call attitude controller with rate yaw determined by pilot input
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
last_pilot_heading = ahrs.yaw_sensor;
last_pilot_yaw_input_ms = tnow; // time when pilot last changed heading