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FixedwingPositionControl unnecessary struct

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This commit is contained in:
Daniel Agar
2017-04-30 20:34:55 -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
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@@ -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) {