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Rename VtolAttitudeControl::abort_front_transition(const char *reason) to VtolAttitudeControl::quadchute(const char *reason)

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This commit is contained in:
Thomas 2021-01-12 10:24:26 +01:00 committed by Roman Bapst
parent 40fbfdc054
commit 38e46ff341
4 changed files with 8 additions and 8 deletions
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2
src/modules/vtol_att_control/standard.cpp
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@ -277,7 +277,7 @@ void Standard::update_transition_state()
if (_params->front_trans_timeout > FLT_EPSILON) {
if (time_since_trans_start > _params->front_trans_timeout) {
// transition timeout occured, abort transition
_attc->abort_front_transition("Transition timeout");
_attc->quadchute("Transition timeout");
}
}

2
src/modules/vtol_att_control/vtol_att_control_main.cpp
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@ -211,7 +211,7 @@ VtolAttitudeControl::is_fixed_wing_requested()
}
void
VtolAttitudeControl::abort_front_transition(const char *reason)
VtolAttitudeControl::quadchute(const char *reason)
{
if (!_vtol_vehicle_status.vtol_transition_failsafe) {
mavlink_log_critical(&_mavlink_log_pub, "Abort: %s", reason);

2
src/modules/vtol_att_control/vtol_att_control_main.h
View File

@ -107,7 +107,7 @@ public:
bool init();
bool is_fixed_wing_requested();
void abort_front_transition(const char *reason);
void quadchute(const char *reason);
struct actuator_controls_s *get_actuators_fw_in() {return &_actuators_fw_in;}
struct actuator_controls_s *get_actuators_mc_in() {return &_actuators_mc_in;}

10
src/modules/vtol_att_control/vtol_type.cpp
View File

@ -245,7 +245,7 @@ void VtolType::check_quadchute_condition()
if (_params->fw_min_alt > FLT_EPSILON) {
if (-(_local_pos->z) < _params->fw_min_alt) {
_attc->abort_front_transition("QuadChute: Minimum altitude breached");
_attc->quadchute("QuadChute: Minimum altitude breached");
}
}
@ -263,7 +263,7 @@ void VtolType::check_quadchute_condition()
(_ra_hrate < -1.0f) &&
(_ra_hrate_sp > 1.0f)) {
_attc->abort_front_transition("QuadChute: loss of altitude");
_attc->quadchute("QuadChute: loss of altitude");
}
} else {
@ -271,7 +271,7 @@ void VtolType::check_quadchute_condition()
const bool height_rate_error = _local_pos->v_z_valid && (_local_pos->vz > 1.0f) && (_local_pos->z_deriv > 1.0f);
if (height_error && height_rate_error) {
_attc->abort_front_transition("QuadChute: large altitude error");
_attc->quadchute("QuadChute: large altitude error");
}
}
}
@ -280,7 +280,7 @@ void VtolType::check_quadchute_condition()
if (_params->fw_qc_max_pitch > 0) {
if (fabsf(euler.theta()) > fabsf(math::radians(_params->fw_qc_max_pitch))) {
_attc->abort_front_transition("Maximum pitch angle exceeded");
_attc->quadchute("Maximum pitch angle exceeded");
}
}
@ -288,7 +288,7 @@ void VtolType::check_quadchute_condition()
if (_params->fw_qc_max_roll > 0) {
if (fabsf(euler.phi()) > fabsf(math::radians(_params->fw_qc_max_roll))) {
_attc->abort_front_transition("Maximum roll angle exceeded");
_attc->quadchute("Maximum roll angle exceeded");
}
}
}