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AC_Circle: Always restore the radius from parameters #16757

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Apr 28, 2021
Merged

AC_Circle: Always restore the radius from parameters #16757

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7 changes: 4 additions & 3 deletions libraries/AC_WPNav/AC_Circle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@ const AP_Param::GroupInfo AC_Circle::var_info[] = {
// @Range: 0 200000
// @Increment: 100
// @User: Standard
AP_GROUPINFO("RADIUS", 0, AC_Circle, _radius, AC_CIRCLE_RADIUS_DEFAULT),
AP_GROUPINFO("RADIUS", 0, AC_Circle, _radius_parm, AC_CIRCLE_RADIUS_DEFAULT),

// @Param: RATE
// @DisplayName: Circle rate
Expand Down Expand Up @@ -62,7 +62,6 @@ void AC_Circle::init(const Vector3f& center, bool terrain_alt)
{
_center = center;
_terrain_alt = terrain_alt;

// initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles)
_pos_control.set_desired_accel_xy(0.0f,0.0f);
_pos_control.set_desired_velocity_xy(0.0f,0.0f);
Expand All @@ -82,7 +81,9 @@ void AC_Circle::init(const Vector3f& center, bool terrain_alt)
/// init - initialise circle controller setting center using stopping point and projecting out based on the copter's heading
/// caller should set the position controller's x,y and z speeds and accelerations before calling this
void AC_Circle::init()
{
{
//initialize radius from params
_radius =_radius_parm;
// initialise position controller (sets target roll angle, pitch angle and I terms based on vehicle current lean angles)
_pos_control.set_desired_accel_xy(0.0f,0.0f);
_pos_control.set_desired_velocity_xy(0.0f,0.0f);
Expand Down
5 changes: 3 additions & 2 deletions libraries/AC_WPNav/AC_Circle.h
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ class AC_Circle
bool center_is_terrain_alt() const { return _terrain_alt; }

/// get_radius - returns radius of circle in cm
float get_radius() const { return _radius; }
float get_radius() const { return is_positive(_radius)?_radius:_radius_parm; }

/// set_radius - sets circle radius in cm
void set_radius(float radius_cm);
Expand Down Expand Up @@ -134,12 +134,13 @@ class AC_Circle
};

// parameters
AP_Float _radius; // maximum horizontal speed in cm/s during missions
AP_Float _radius_parm; // radius of circle in cm loaded from params
AP_Float _rate; // rotation speed in deg/sec
AP_Int16 _options; // stick control enable/disable

// internal variables
Vector3f _center; // center of circle in cm from home
float _radius; // radius of circle in cm
float _yaw; // yaw heading (normally towards circle center)
float _angle; // current angular position around circle in radians (0=directly north of the center of the circle)
float _angle_total; // total angle traveled in radians
Expand Down