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propagate uorb contants change through all modules/drivers

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This commit is contained in:
Thomas Gubler
2015-01-28 16:31:41 +01:00
parent 01835a51a8
commit 2d124852c1
16 changed files with 376 additions and 376 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+9 -9
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@@ -816,7 +816,7 @@ void
FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed_2d, const struct position_setpoint_triplet_s &pos_sp_triplet)
{
if (pos_sp_triplet.current.valid && !(pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER)) {
if (pos_sp_triplet.current.valid && !(pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER)) {
/* rotate ground speed vector with current attitude */
math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0));
@@ -963,7 +963,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
if (pos_sp_triplet.current.type == SETPOINT_TYPE_POSITION) {
if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_POSITION) {
/* waypoint is a plain navigation waypoint */
_l1_control.navigate_waypoints(prev_wp, curr_wp, current_position, ground_speed_2d);
_att_sp.roll_body = _l1_control.nav_roll();
@@ -974,7 +974,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed);
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER) {
} else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LOITER) {
/* waypoint is a loiter waypoint */
_l1_control.navigate_loiter(curr_wp, current_position, pos_sp_triplet.current.loiter_radius,
@@ -987,7 +987,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
_parameters.throttle_min, _parameters.throttle_max, _parameters.throttle_cruise,
false, math::radians(_parameters.pitch_limit_min), _global_pos.alt, ground_speed);
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_LAND) {
} else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND) {
float bearing_lastwp_currwp = get_bearing_to_next_waypoint(prev_wp(0), prev_wp(1), curr_wp(0), curr_wp(1));
float bearing_airplane_currwp = get_bearing_to_next_waypoint(current_position(0), current_position(1), curr_wp(0), curr_wp(1));
@@ -1140,7 +1140,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
ground_speed);
}
} else if (pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF) {
} else if (pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
/* Perform launch detection */
if (launchDetector.launchDetectionEnabled() &&
@@ -1235,12 +1235,12 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
}
/* reset landing state */
if (pos_sp_triplet.current.type != SETPOINT_TYPE_LAND) {
if (pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_LAND) {
reset_landing_state();
}
/* reset takeoff/launch state */
if (pos_sp_triplet.current.type != SETPOINT_TYPE_TAKEOFF) {
if (pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_TAKEOFF) {
reset_takeoff_state();
}
@@ -1327,7 +1327,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* Set thrust to 0 to minimize damage */
_att_sp.thrust = 0.0f;
} else if (_control_mode_current == FW_POSCTRL_MODE_AUTO && // launchdetector only available in auto
pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
launch_detection_state != LAUNCHDETECTION_RES_DETECTED_ENABLEMOTORS) {
/* making sure again that the correct thrust is used,
* without depending on library calls for safety reasons */
@@ -1341,7 +1341,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
/* During a takeoff waypoint while waiting for launch the pitch sp is set
* already (not by tecs) */
if (!(_control_mode_current == FW_POSCTRL_MODE_AUTO &&
pos_sp_triplet.current.type == SETPOINT_TYPE_TAKEOFF &&
pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
launch_detection_state == LAUNCHDETECTION_RES_NONE)) {
_att_sp.pitch_body = _mTecs.getEnabled() ? _mTecs.getPitchSetpoint() : _tecs.get_pitch_demand();
}