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Final parameter interface cleanup - removed last bit of old cruft, fixed a bug on parameter update notification, cleaned up API slightly in naming

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This commit is contained in:
Lorenz Meier
2012-08-27 22:57:20 +02:00
parent 2a6a151342
commit 2d2548e714
15 changed files with 82 additions and 636 deletions
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apps/fixedwing_control/fixedwing_control.c
+20 -50
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@@ -575,18 +575,13 @@ static float calc_roll_setpoint()
{
float setpoint = 0;
if (plane_data.mode == TAKEOFF) {
setpoint = 0;
setpoint = calc_bearing() - plane_data.yaw;
} else {
setpoint = calc_bearing() - plane_data.yaw;
if (setpoint < (-35.0f/180.0f)*M_PI_F)
return (-35.0f/180.0f)*M_PI_F;
if (setpoint < (-35.0f/180.0f)*M_PI_F)
return (-35.0f/180.0f)*M_PI_F;
if (setpoint > (35/180.0f)*M_PI_F)
return (-35.0f/180.0f)*M_PI_F;
}
if (setpoint > (35/180.0f)*M_PI_F)
return (-35.0f/180.0f)*M_PI_F;
return setpoint;
}
@@ -605,10 +600,10 @@ static float calc_pitch_setpoint()
{
float setpoint = 0.0f;
if (plane_data.mode == TAKEOFF) {
setpoint = ((35/180.0f)*M_PI_F);
// if (plane_data.mode == TAKEOFF) {
// setpoint = ((35/180.0f)*M_PI_F);
} else {
// } else {
setpoint = atanf((plane_data.wp_z - plane_data.alt) / calc_wp_distance());
if (setpoint < (-35.0f/180.0f)*M_PI_F)
@@ -616,7 +611,7 @@ static float calc_pitch_setpoint()
if (setpoint > (35/180.0f)*M_PI_F)
return (-35.0f/180.0f)*M_PI_F;
}
// }
return setpoint;
}
@@ -634,46 +629,24 @@ static float calc_throttle_setpoint()
{
float setpoint = 0;
// if TAKEOFF full throttle
if (plane_data.mode == TAKEOFF) {
setpoint = 60.0f;
}
// // if TAKEOFF full throttle
// if (plane_data.mode == TAKEOFF) {
// setpoint = 60.0f;
// }
// if CRUISE - parameter value
if (plane_data.mode == CRUISE) {
// // if CRUISE - parameter value
// if (plane_data.mode == CRUISE) {
setpoint = plane_data.airspeed;
}
// }
// if LAND no throttle
if (plane_data.mode == LAND) {
setpoint = 0.0f;
}
// // if LAND no throttle
// if (plane_data.mode == LAND) {
// setpoint = 0.0f;
// }
return setpoint;
}
/**
* set_plane_mode
*
* Sets the plane mode
* (TAKEOFF, CRUISE, LOITER or LAND)
*
*/
static void set_plane_mode()
{
if (plane_data.alt < 10.0f) {
plane_data.mode = TAKEOFF;
} else {
plane_data.mode = CRUISE;
// TODO: if reached waypoint and no further waypoint exists, go to LOITER mode
}
// Debug override - don't need TAKEOFF mode for now
plane_data.mode = CRUISE;
}
/*
* fixedwing_control_main
*
@@ -835,9 +808,6 @@ int fixedwing_control_main(int argc, char *argv[])
/************************************************************************************************************/
}
/* Set plane mode */
set_plane_mode();
/* Calculate the P,Q,R body rates of the aircraft */
//calc_body_angular_rates(plane_data.roll, plane_data.pitch, plane_data.yaw,
// plane_data.rollspeed, plane_data.pitchspeed, plane_data.yawspeed);