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Minor changes to get fixed wing control apps running for posix

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devbharat
2015-08-23 14:39:25 +02:00
committed by Lorenz Meier
parent 295e4be8c3
commit 20d71870ec
8 changed files with 81 additions and 67 deletions
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src/lib/external_lgpl/tecs/tecs.cpp
+4 -4
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@@ -98,7 +98,7 @@ void TECS::update_state(float baro_altitude, float airspeed, const math::Matrix<
// Only required if airspeed is being measured and controlled
float temp = 0;
if (isfinite(airspeed) && airspeed_sensor_enabled()) {
if (PX4_ISFINITE(airspeed) && airspeed_sensor_enabled()) {
// Get DCM
// Calculate speed rate of change
// XXX check
@@ -142,7 +142,7 @@ void TECS::_update_speed(float airspeed_demand, float indicated_airspeed,
// Get airspeed or default to halfway between min and max if
// airspeed is not being used and set speed rate to zero
if (!isfinite(indicated_airspeed) || !airspeed_sensor_enabled()) {
if (!PX4_ISFINITE(indicated_airspeed) || !airspeed_sensor_enabled()) {
// If no airspeed available use average of min and max
_EAS = 0.5f * (indicated_airspeed_min + indicated_airspeed_max);
@@ -228,12 +228,12 @@ void TECS::_update_speed_demand(void)
void TECS::_update_height_demand(float demand, float state)
{
// Handle initialization
if (isfinite(demand) && fabsf(_hgt_dem_in_old) < 0.1f) {
if (PX4_ISFINITE(demand) && fabsf(_hgt_dem_in_old) < 0.1f) {
_hgt_dem_in_old = demand;
}
// Apply 2 point moving average to demanded height
// This is required because height demand is updated in steps
if (isfinite(demand)) {
if (PX4_ISFINITE(demand)) {
_hgt_dem = 0.5f * (demand + _hgt_dem_in_old);
} else {
_hgt_dem = _hgt_dem_in_old;