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mc_pos_control: replace define with parameter to enable/disable obstacle

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avoidance
This commit is contained in:
Martina
2018-07-12 16:36:11 -04:00
committed by Daniel Agar
parent 6cceca6fe5
commit 33b1b13432
1 changed files with 3 additions and 4 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+3 -4
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@@ -82,8 +82,6 @@
#define SIGMA_SINGLE_OP 0.000001f
#define SIGMA_NORM 0.001f
/* temporary solution to enable and disable obstacle avoidance */
#define ENABLE_OBSTACLE_AVOIDANCE false
/**
* Multicopter position control app start / stop handling function
@@ -179,6 +177,7 @@ private:
DEFINE_PARAMETERS(
(ParamInt<px4::params::MPC_FLT_TSK>) _test_flight_tasks, /**< temporary flag for the transition to flight tasks */
(ParamInt<px4::params::MPC_OBS_AVOID>) _test_obstacle_avoidance, /**< temporary flag to enable obstacle avoidance */
(ParamFloat<px4::params::MPC_MANTHR_MIN>) _manual_thr_min, /**< minimal throttle output when flying in manual mode */
(ParamFloat<px4::params::MPC_MANTHR_MAX>) _manual_thr_max, /**< maximal throttle output when flying in manual mode */
(ParamFloat<px4::params::MPC_XY_MAN_EXPO>)
@@ -3492,8 +3491,8 @@ MulticopterPositionControl::use_obstacle_avoidance()
{
/* check that external obstacle avoidance is sending data and that the first point is valid */
return (ENABLE_OBSTACLE_AVOIDANCE && (hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) <
TRAJECTORY_STREAM_TIMEOUT_US) && (_traj_wp_avoidance.point_valid[trajectory_waypoint_s::POINT_0] == true));
return (_test_obstacle_avoidance.get() && (hrt_elapsed_time((hrt_abstime *)&_traj_wp_avoidance.timestamp) <
TRAJECTORY_STREAM_TIMEOUT_US) && (_traj_wp_avoidance.point_valid[trajectory_waypoint_s::POINT_0] == true));
}
bool