AC_WPNav: update usage of update_xy_controller

3drobotics · Jan 28, 2015 · 0125d40 · 0125d40
1 parent 60beb81
commit 0125d40
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/libraries/AC_WPNav/AC_Circle.cpp b/libraries/AC_WPNav/AC_Circle.cpp
@@ -151,7 +151,7 @@ void AC_Circle::update()
         }
 
         // update position controller
-        _pos_control.update_xy_controller(false, 1.0f);
+        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f);
     }
 }
 

diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -343,7 +343,7 @@ void AC_WPNav::update_loiter(float ekfGndSpdLimit, float ekfNavVelGainScaler)
             dt = 0.0f;
         }
         calc_loiter_desired_velocity(dt,ekfGndSpdLimit);
-        _pos_control.update_xy_controller(true, ekfNavVelGainScaler);
+        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_SLOW_POS_AND_VEL, ekfNavVelGainScaler);
     }
 }
 
@@ -651,7 +651,7 @@ void AC_WPNav::update_wpnav()
         }
         _pos_control.freeze_ff_z();
 
-        _pos_control.update_xy_controller(false, 1.0f);
+        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f);
         check_wp_leash_length();
 
         _wp_last_update = hal.scheduler->millis();
@@ -914,7 +914,7 @@ void AC_WPNav::update_spline()
         _pos_control.freeze_ff_z();
 
         // run horizontal position controller
-        _pos_control.update_xy_controller(false, 1.0f);
+        _pos_control.update_xy_controller(AC_PosControl::XY_MODE_POS_ONLY, 1.0f);
 
         _wp_last_update = hal.scheduler->millis();
     }