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position_setpoint_triplet refactoring finished

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Anton Babushkin
2014-01-23 22:41:26 +01:00
parent 6acb8fa66f
commit 1cffa9d2f7
9 changed files with 51 additions and 55 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+4 -4
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@@ -65,7 +65,7 @@
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
#include <uORB/topics/mission_item_triplet.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
@@ -117,7 +117,7 @@ private:
int _manual_sub; /**< notification of manual control updates */
int _arming_sub; /**< arming status of outputs */
int _local_pos_sub; /**< vehicle local position */
int _pos_sp_triplet_sub; /**< mission item triplet */
int _pos_sp_triplet_sub; /**< position setpoint triplet */
orb_advert_t _local_pos_sp_pub; /**< local position setpoint publication */
orb_advert_t _att_sp_pub; /**< attitude setpoint publication */
@@ -687,7 +687,7 @@ MulticopterPositionControl::task_main()
if (!_control_mode.flag_control_manual_enabled) {
/* use constant descend rate when landing, ignore altitude setpoint */
if (_pos_sp_triplet.current_valid && _pos_sp_triplet.current.nav_cmd == NAV_CMD_LAND) {
if (_pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
_vel_sp(2) = _params.land_speed;
}
@@ -789,7 +789,7 @@ MulticopterPositionControl::task_main()
float tilt = atan2f(math::Vector<2>(thrust_sp(0), thrust_sp(1)).length(), -thrust_sp(2));
float tilt_max = _params.tilt_max;
if (!_control_mode.flag_control_manual_enabled) {
if (_pos_sp_triplet.current_valid && _pos_sp_triplet.current.nav_cmd == NAV_CMD_LAND) {
if (_pos_sp_triplet.current.valid && _pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
/* limit max tilt and min lift when landing */
tilt_max = _params.land_tilt_max;
if (thr_min < 0.0f)