Fix nav hybrid speed (#3165)

* fix incomplete rename * add nav_hybrid to test conf for next time
paparazzi · Nov 6, 2023 · 140e359 · 140e359
1 parent 7320b65
commit 140e359
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Showing 4 changed files with 4 additions and 3 deletions.
diff --git a/conf/airframes/examples/cube_orange.xml b/conf/airframes/examples/cube_orange.xml
@@ -89,6 +89,7 @@
     <module name="stabilization" type="indi_simple"/>
     <module name="stabilization" type="rate_indi"/>
     <module name="ins"           type="ekf2"/>
+    <module name="nav"           type="hybrid"/>
 
     <module name="air_data"/>
 

diff --git a/conf/conf_tests.xml b/conf/conf_tests.xml
@@ -7,7 +7,7 @@
    telemetry="telemetry/highspeed_rotorcraft.xml"
    flight_plan="flight_plans/rotorcraft_basic_geofence.xml"
    settings="settings/rotorcraft_basic.xml"
-   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_rotorcraft.xml modules/scheduling_indi_simple.xml modules/stabilization_indi_simple.xml"
+   settings_modules="modules/air_data.xml modules/airspeed_ms45xx_i2c.xml modules/electrical.xml modules/gps.xml modules/gps_ublox.xml modules/gps_ubx_ucenter.xml modules/guidance_indi_hybrid.xml modules/guidance_rotorcraft.xml modules/imu_common.xml modules/imu_heater.xml modules/ins_ekf2.xml modules/logger_sd_chibios.xml modules/nav_hybrid.xml modules/nav_rotorcraft.xml modules/scheduling_indi_simple.xml modules/stabilization_indi_simple.xml"
    gui_color="blue"
   />
   <aircraft

diff --git a/conf/modules/nav_hybrid.xml b/conf/modules/nav_hybrid.xml
@@ -20,7 +20,7 @@
     <dl_settings>
       <dl_settings NAME="nav_hybrid">
         <dl_setting var="nav_max_speed" min="1.0" step="1.0" max="50.0"/>
-        <dl_setting var="nav_hover_speed" min="0.1" step="0.1" max="10.0"/>
+        <dl_setting var="nav_goto_speed" min="0.1" step="0.1" max="10.0"/>
         <dl_setting var="nav_max_deceleration_sp" min="0.5" step="0.1" max="10.0" shortname="max_deceleration" param="NAV_HYBRID_MAX_DECELERATION"/>
       </dl_settings>
     </dl_settings>

diff --git a/sw/airborne/modules/nav/nav_rotorcraft_hybrid.h b/sw/airborne/modules/nav/nav_rotorcraft_hybrid.h
@@ -33,7 +33,7 @@
 
 // settings
 extern float nav_max_speed;   // max speed in route mode
-extern float nav_hover_speed; // max speed in goto/stay mode
+extern float nav_goto_speed; // max speed in goto/stay mode
 extern float nav_max_deceleration_sp;
 
 extern void nav_rotorcraft_hybrid_init(void);