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TECS: Update logging struct

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This commit is contained in:
Lorenz Meier
2015-05-26 22:55:32 -07:00
parent c18210b163
commit 17adf552ef
3 changed files with 22 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+10 -10
View File
@@ -399,7 +399,7 @@ private:
bool climbout_mode, float climbout_pitch_min_rad,
float altitude,
const math::Vector<3> &ground_speed,
tecs_mode mode = TECS_MODE_NORMAL,
unsigned mode = tecs_status_s::TECS_MODE_NORMAL,
bool pitch_max_special = false);
};
@@ -1093,7 +1093,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
0.0f, throttle_max, throttle_land,
false, land_motor_lim ? math::radians(_parameters.land_flare_pitch_min_deg) : math::radians(_parameters.pitch_limit_min),
_global_pos.alt, ground_speed,
land_motor_lim ? TECS_MODE_LAND_THROTTLELIM : TECS_MODE_LAND);
land_motor_lim ? tecs_status_s::TECS_MODE_LAND_THROTTLELIM : tecs_status_s::TECS_MODE_LAND);
if (!land_noreturn_vertical) {
mavlink_log_info(_mavlink_fd, "#audio: Landing, flaring");
@@ -1198,7 +1198,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
math::radians(10.0f)),
_global_pos.alt,
ground_speed,
TECS_MODE_TAKEOFF,
tecs_status_s::TECS_MODE_TAKEOFF,
takeoff_pitch_max_deg != _parameters.pitch_limit_max);
/* limit roll motion to ensure enough lift */
@@ -1303,7 +1303,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
math::radians(_parameters.pitch_limit_min),
_global_pos.alt,
ground_speed,
TECS_MODE_NORMAL);
tecs_status_s::TECS_MODE_NORMAL);
} else {
_control_mode_current = FW_POSCTRL_MODE_OTHER;
@@ -1521,7 +1521,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
bool climbout_mode, float climbout_pitch_min_rad,
float altitude,
const math::Vector<3> &ground_speed,
tecs_mode mode, bool pitch_max_special)
unsigned mode, bool pitch_max_special)
{
if (_mTecs.getEnabled()) {
/* Using mtecs library: prepare arguments for mtecs call */
@@ -1559,7 +1559,7 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
}
/* No underspeed protection in landing mode */
_tecs.set_detect_underspeed_enabled(!(mode == TECS_MODE_LAND || mode == TECS_MODE_LAND_THROTTLELIM));
_tecs.set_detect_underspeed_enabled(!(mode == tecs_status_s::TECS_MODE_LAND || mode == tecs_status_s::TECS_MODE_LAND_THROTTLELIM));
/* Using tecs library */
_tecs.update_pitch_throttle(_R_nb, _att.pitch, altitude, alt_sp, v_sp,
@@ -1577,16 +1577,16 @@ void FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float v_
switch (s.mode) {
case TECS::ECL_TECS_MODE_NORMAL:
t.mode = TECS_MODE_NORMAL;
t.mode = tecs_status_s::TECS_MODE_NORMAL;
break;
case TECS::ECL_TECS_MODE_UNDERSPEED:
t.mode = TECS_MODE_UNDERSPEED;
t.mode = tecs_status_s::TECS_MODE_UNDERSPEED;
break;
case TECS::ECL_TECS_MODE_BAD_DESCENT:
t.mode = TECS_MODE_BAD_DESCENT;
t.mode = tecs_status_s::TECS_MODE_BAD_DESCENT;
break;
case TECS::ECL_TECS_MODE_CLIMBOUT:
t.mode = TECS_MODE_CLIMBOUT;
t.mode = tecs_status_s::TECS_MODE_CLIMBOUT;
break;
}
src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+9 -9
View File
@@ -83,7 +83,7 @@ mTecs::~mTecs()
}
int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
float airspeedSp, tecs_mode mode, LimitOverride limitOverride)
float airspeedSp, unsigned mode, LimitOverride limitOverride)
{
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(altitude) ||
@@ -118,7 +118,7 @@ int mTecs::updateAltitudeSpeed(float flightPathAngle, float altitude, float alti
}
int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
float airspeedSp, tecs_mode mode, LimitOverride limitOverride)
float airspeedSp, unsigned mode, LimitOverride limitOverride)
{
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
@@ -154,7 +154,7 @@ int mTecs::updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAng
}
int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride)
float accelerationLongitudinalSp, unsigned mode, LimitOverride limitOverride)
{
/* check if all input arguments are numbers and abort if not so */
if (!isfinite(flightPathAngle) || !isfinite(flightPathAngleSp) ||
@@ -200,23 +200,23 @@ int mTecs::updateFlightPathAngleAcceleration(float flightPathAngle, float flight
}
/* Check airspeed: if below safe value switch to underspeed mode (if not in land or takeoff mode) */
if (mode != TECS_MODE_LAND && mode != TECS_MODE_TAKEOFF && airspeedFiltered < _airspeedMin.get()) {
mode = TECS_MODE_UNDERSPEED;
if (mode != tecs_status_s::TECS_MODE_LAND && mode != tecs_status_s::TECS_MODE_TAKEOFF && airspeedFiltered < _airspeedMin.get()) {
mode = tecs_status_s::TECS_MODE_UNDERSPEED;
}
/* Set special ouput limiters if we are not in TECS_MODE_NORMAL */
BlockOutputLimiter *outputLimiterThrottle = &_controlTotalEnergy.getOutputLimiter();
BlockOutputLimiter *outputLimiterPitch = &_controlEnergyDistribution.getOutputLimiter();
if (mode == TECS_MODE_TAKEOFF) {
if (mode == tecs_status_s::TECS_MODE_TAKEOFF) {
outputLimiterThrottle = &_BlockOutputLimiterTakeoffThrottle;
outputLimiterPitch = &_BlockOutputLimiterTakeoffPitch;
} else if (mode == TECS_MODE_LAND) {
} else if (mode == tecs_status_s::TECS_MODE_LAND) {
// only limit pitch but do not limit throttle
outputLimiterPitch = &_BlockOutputLimiterLandPitch;
} else if (mode == TECS_MODE_LAND_THROTTLELIM) {
} else if (mode == tecs_status_s::TECS_MODE_LAND_THROTTLELIM) {
outputLimiterThrottle = &_BlockOutputLimiterLandThrottle;
outputLimiterPitch = &_BlockOutputLimiterLandPitch;
} else if (mode == TECS_MODE_UNDERSPEED) {
} else if (mode == tecs_status_s::TECS_MODE_UNDERSPEED) {
outputLimiterThrottle = &_BlockOutputLimiterUnderspeedThrottle;
outputLimiterPitch = &_BlockOutputLimiterUnderspeedPitch;
}
src/modules/fw_pos_control_l1/mtecs/mTecs.h
+3 -3
View File
@@ -65,19 +65,19 @@ public:
* Control in altitude setpoint and speed mode
*/
int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed,
float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
float airspeedSp, unsigned mode, LimitOverride limitOverride);
/*
* Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode
*/
int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed,
float airspeedSp, tecs_mode mode, LimitOverride limitOverride);
float airspeedSp, unsigned mode, LimitOverride limitOverride);
/*
* Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case)
*/
int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride);
float accelerationLongitudinalSp, unsigned mode, LimitOverride limitOverride);
/*
* Reset all integrators