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fw pos control: use new manual control setpoint variable names

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This commit is contained in:
Thomas Gubler
2014-05-12 09:22:20 +02:00
parent 3779e216be
commit 1795d7d6e1
1 changed files with 10 additions and 10 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+10 -10
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@@ -1060,7 +1060,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
if (0/* easy on and manual control yaw non-zero */) {
_seatbelt_hold_heading = _att.yaw + _manual.yaw;
_seatbelt_hold_heading = _att.yaw + _manual.r;
}
//XXX not used
@@ -1078,12 +1078,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// XXX check if ground speed undershoot should be applied here
float seatbelt_airspeed = _parameters.airspeed_min +
(_parameters.airspeed_max - _parameters.airspeed_min) *
_manual.throttle;
_manual.z;
_l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed);
_att_sp.roll_body = _l1_control.nav_roll();
_att_sp.yaw_body = _l1_control.nav_bearing();
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f,
seatbelt_airspeed,
_airspeed.indicated_airspeed_m_s, eas2tas,
false, _parameters.pitch_limit_min,
@@ -1099,7 +1099,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
if (0/* seatbelt on and manual control yaw non-zero */) {
_seatbelt_hold_heading = _att.yaw + _manual.yaw;
_seatbelt_hold_heading = _att.yaw + _manual.r;
}
/* if in seatbelt mode, set airspeed based on manual control */
@@ -1107,10 +1107,10 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// XXX check if ground speed undershoot should be applied here
float seatbelt_airspeed = _parameters.airspeed_min +
(_parameters.airspeed_max - _parameters.airspeed_min) *
_manual.throttle;
_manual.z;
/* user switched off throttle */
if (_manual.throttle < 0.1f) {
if (_manual.z < 0.1f) {
throttle_max = 0.0f;
/* switch to pure pitch based altitude control, give up speed */
_tecs.set_speed_weight(0.0f);
@@ -1120,14 +1120,14 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
bool climb_out = false;
/* user wants to climb out */
if (_manual.pitch > 0.3f && _manual.throttle > 0.8f) {
if (_manual.x > 0.3f && _manual.z > 0.8f) {
climb_out = true;
}
_l1_control.navigate_heading(_seatbelt_hold_heading, _att.yaw, ground_speed);
_att_sp.roll_body = _manual.roll;
_att_sp.yaw_body = _manual.yaw;
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.pitch * 2.0f,
_att_sp.roll_body = _manual.y;
_att_sp.yaw_body = _manual.r;
_tecs.update_pitch_throttle(_R_nb, _att.pitch, _global_pos.alt, _global_pos.alt + _manual.x * 2.0f,
seatbelt_airspeed,
_airspeed.indicated_airspeed_m_s, eas2tas,
climb_out, _parameters.pitch_limit_min,