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fw_pos_control: get vtol parameter values if vehicle is vtol

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-03-01 15:50:03 +01:00
committed by Daniel Agar
parent ee2163ce69
commit 08534588cd
1 changed files with 12 additions and 0 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+12
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@@ -92,6 +92,10 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.heightrate_ff = param_find("FW_T_HRATE_FF");
_parameter_handles.speedrate_p = param_find("FW_T_SRATE_P");
// if vehicle is vtol these handles will be set when we get the vehicle status
_parameter_handles.airspeed_trans = PARAM_INVALID;
_parameter_handles.vtol_type = PARAM_INVALID;
// initialize to invalid vtol type
_parameters.vtol_type = -1;
@@ -173,6 +177,14 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.land_use_terrain_estimate, &(_parameters.land_use_terrain_estimate));
param_get(_parameter_handles.land_airspeed_scale, &(_parameters.land_airspeed_scale));
if (_parameter_handles.vtol_type != PARAM_INVALID) {
param_get(_parameter_handles.vtol_type, &_parameters.vtol_type);
}
if (_parameter_handles.airspeed_trans != PARAM_INVALID) {
param_get(_parameter_handles.airspeed_trans, &_parameters.airspeed_trans);
}
_l1_control.set_l1_damping(_parameters.l1_damping);
_l1_control.set_l1_period(_parameters.l1_period);
_l1_control.set_l1_roll_limit(radians(_parameters.roll_limit));