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TECS: Update logging struct

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This commit is contained in:
Lorenz Meier
2015-05-27 15:21:34 -07:00
parent c18210b163
commit 17adf552ef
3 changed files with 22 additions and 22 deletions
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src/modules/fw_pos_control_l1/mtecs/mTecs.cpp
+9 -9
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@@ -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;
}