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FixedwingPositionControl unnecessary struct

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This commit is contained in:
Daniel Agar
2017-06-08 22:04:30 -04:00
parent 3313ade291
commit 376fdd4206
3 changed files with 29 additions and 45 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+8 -8
View File
@@ -432,7 +432,7 @@ FixedwingPositionControl::calculate_target_airspeed(float airspeed_demand)
void
FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> &curr_pos,
const math::Vector<2> &ground_speed,
const struct position_setpoint_s &pos_sp_prev, const struct position_setpoint_s &pos_sp_curr)
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
{
if (pos_sp_curr.valid && !_l1_control.circle_mode()) {
@@ -487,8 +487,8 @@ FixedwingPositionControl::fw_pos_ctrl_status_publish()
}
void
FixedwingPositionControl::get_waypoint_heading_distance(float heading, struct position_setpoint_s &waypoint_prev,
struct position_setpoint_s &waypoint_next, bool flag_init)
FixedwingPositionControl::get_waypoint_heading_distance(float heading, position_setpoint_s &waypoint_prev,
position_setpoint_s &waypoint_next, bool flag_init)
{
waypoint_prev.valid = true;
waypoint_prev.alt = _hold_alt;
@@ -530,7 +530,7 @@ FixedwingPositionControl::get_waypoint_heading_distance(float heading, struct po
float
FixedwingPositionControl::get_terrain_altitude_takeoff(float takeoff_alt,
const struct vehicle_global_position_s &global_pos)
const vehicle_global_position_s &global_pos)
{
if (PX4_ISFINITE(global_pos.terrain_alt) && global_pos.terrain_alt_valid) {
return global_pos.terrain_alt;
@@ -631,7 +631,7 @@ FixedwingPositionControl::do_takeoff_help(float *hold_altitude, float *pitch_lim
bool
FixedwingPositionControl::control_position(const math::Vector<2> &curr_pos, const math::Vector<2> &ground_speed,
const struct position_setpoint_s &pos_sp_prev, const struct position_setpoint_s &pos_sp_curr)
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr)
{
float dt = 0.01f;
@@ -1592,7 +1592,7 @@ FixedwingPositionControl::task_main()
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update {};
parameter_update_s update {};
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
@@ -1843,10 +1843,10 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
throttle_min, throttle_max, throttle_cruise,
pitch_min_rad, pitch_max_rad);
struct TECS::tecs_state s {};
TECS::tecs_state s {};
_tecs.get_tecs_state(s);
struct tecs_status_s t {};
tecs_status_s t {};
t.timestamp = s.timestamp;
switch (s.mode) {
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+21 -36
View File
@@ -159,16 +159,16 @@ private:
orb_id_t _attitude_setpoint_id{nullptr};
struct control_state_s _ctrl_state {}; ///< control state */
struct fw_pos_ctrl_status_s _fw_pos_ctrl_status {}; ///< navigation capabilities */
struct manual_control_setpoint_s _manual {}; ///< r/c channel data */
struct position_setpoint_triplet_s _pos_sp_triplet {}; ///< triplet of mission items */
struct vehicle_attitude_setpoint_s _att_sp {}; ///< vehicle attitude setpoint */
struct vehicle_command_s _vehicle_command {}; ///< vehicle commands */
struct vehicle_control_mode_s _control_mode {}; ///< control mode */
struct vehicle_global_position_s _global_pos {}; ///< global vehicle position */
struct vehicle_land_detected_s _vehicle_land_detected {}; ///< vehicle land detected */
struct vehicle_status_s _vehicle_status {}; ///< vehicle status */
control_state_s _ctrl_state {}; ///< control state */
fw_pos_ctrl_status_s _fw_pos_ctrl_status {}; ///< navigation capabilities */
manual_control_setpoint_s _manual {}; ///< r/c channel data */
position_setpoint_triplet_s _pos_sp_triplet {}; ///< triplet of mission items */
vehicle_attitude_setpoint_s _att_sp {}; ///< vehicle attitude setpoint */
vehicle_command_s _vehicle_command {}; ///< vehicle commands */
vehicle_control_mode_s _control_mode {}; ///< control mode */
vehicle_global_position_s _global_pos {}; ///< global vehicle position */
vehicle_land_detected_s _vehicle_land_detected {}; ///< vehicle land detected */
vehicle_status_s _vehicle_status {}; ///< vehicle status */
perf_counter_t _loop_perf; ///< loop performance counter */
@@ -180,8 +180,8 @@ private:
float _althold_epv{0.0f}; ///< the position estimate accuracy when engaging alt hold */
bool _was_in_deadband{false}; ///< wether the last stick input was in althold deadband */
struct position_setpoint_s _hdg_hold_prev_wp {}; ///< position where heading hold started */
struct position_setpoint_s _hdg_hold_curr_wp {}; ///< position to which heading hold flies */
position_setpoint_s _hdg_hold_prev_wp {}; ///< position where heading hold started */
position_setpoint_s _hdg_hold_curr_wp {}; ///< position to which heading hold flies */
hrt_abstime _control_position_last_called{0}; ///< last call of control_position */
@@ -274,7 +274,7 @@ private:
float airspeed_trim;
float airspeed_max;
float airspeed_trans;
int airspeed_mode;
int32_t airspeed_mode;
float pitch_limit_min;
float pitch_limit_max;
@@ -300,15 +300,13 @@ private:
float land_heading_hold_horizontal_distance;
float land_flare_pitch_min_deg;
float land_flare_pitch_max_deg;
int land_use_terrain_estimate;
int32_t land_use_terrain_estimate;
float land_airspeed_scale;
int vtol_type;
int32_t vtol_type;
} _parameters{}; ///< local copies of interesting parameters */
struct {
param_t l1_period;
param_t l1_damping;
@@ -364,7 +362,6 @@ private:
param_t land_airspeed_scale;
param_t vtol_type;
} _parameter_handles {}; ///< handles for interesting parameters */
@@ -394,13 +391,13 @@ private:
* @param waypoint_prev the waypoint at the current position
* @param waypoint_next the waypoint in the heading direction
*/
void get_waypoint_heading_distance(float heading, struct position_setpoint_s &waypoint_prev,
struct position_setpoint_s &waypoint_next, bool flag_init);
void get_waypoint_heading_distance(float heading, position_setpoint_s &waypoint_prev,
position_setpoint_s &waypoint_next, bool flag_init);
/**
* Return the terrain estimate during takeoff or takeoff_alt if terrain estimate is not available
*/
float get_terrain_altitude_takeoff(float takeoff_alt, const struct vehicle_global_position_s &global_pos);
float get_terrain_altitude_takeoff(float takeoff_alt, const vehicle_global_position_s &global_pos);
/**
* Check if we are in a takeoff situation
@@ -422,13 +419,8 @@ private:
*/
bool update_desired_altitude(float dt);
/**
* Control position.
*/
bool control_position(const math::Vector<2> &curr_pos,
const math::Vector<2> &ground_speed,
const struct position_setpoint_s &pos_sp_prev,
const struct position_setpoint_s &pos_sp_curr);
bool control_position(const math::Vector<2> &curr_pos, const math::Vector<2> &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
float get_tecs_pitch();
float get_tecs_thrust();
@@ -436,7 +428,7 @@ private:
float get_demanded_airspeed();
float calculate_target_airspeed(float airspeed_demand);
void calculate_gndspeed_undershoot(const math::Vector<2> &curr_pos, const math::Vector<2> &ground_speed,
const struct position_setpoint_s &pos_sp_prev, const struct position_setpoint_s &pos_sp_curr);
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
/**
* Handle incoming vehicle commands
@@ -453,14 +445,7 @@ private:
*/
void task_main();
/*
* Reset takeoff state
*/
void reset_takeoff_state();
/*
* Reset landing state
*/
void reset_landing_state();
/*
src/modules/fw_pos_control_l1/Landingslope.cpp
-1
View File
@@ -47,7 +47,6 @@ Landingslope::update(float landing_slope_angle_rad_new,
float motor_lim_relative_alt_new,
float H1_virt_new)
{
_landing_slope_angle_rad = landing_slope_angle_rad_new;
_flare_relative_alt = flare_relative_alt_new;
_motor_lim_relative_alt = motor_lim_relative_alt_new;