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fw pos ctrl: absorb fw_lnd_rel_ter into fw_lnd_useter parameter

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Thomas Stastny
2022-07-19 22:37:09 -04:00
committed by Daniel Agar
parent de3ac12ecd
commit 413ce8a3c4
3 changed files with 23 additions and 28 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+8 -3
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@@ -350,6 +350,12 @@ private:
// [us] time at which we had last valid terrain alt
hrt_abstime _last_time_terrain_alt_was_valid{0};
enum TerrainEstimateUseOnLanding {
kDisableTerrainEstimation = 0,
kTriggerFlareWithTerrainEstimate,
kFollowTerrainRelativeLandingGlideSlope
};
// AIRSPEED
float _airspeed{0.0f};
@@ -794,7 +800,7 @@ private:
(ParamFloat<px4::params::FW_LND_FLALT>) _param_fw_lnd_flalt,
(ParamFloat<px4::params::FW_LND_THRTC_SC>) _param_fw_thrtc_sc,
(ParamBool<px4::params::FW_LND_EARLYCFG>) _param_fw_lnd_earlycfg,
(ParamBool<px4::params::FW_LND_USETER>) _param_fw_lnd_useter,
(ParamInt<px4::params::FW_LND_USETER>) _param_fw_lnd_useter,
(ParamFloat<px4::params::FW_P_LIM_MAX>) _param_fw_p_lim_max,
(ParamFloat<px4::params::FW_P_LIM_MIN>) _param_fw_p_lim_min,
@@ -856,8 +862,7 @@ private:
(ParamFloat<px4::params::FW_LND_FL_SINK>) _param_fw_lnd_fl_sink,
(ParamFloat<px4::params::FW_LND_TD_OFF>) _param_fw_lnd_td_off,
(ParamInt<px4::params::FW_LND_NUDGE>) _param_fw_lnd_nudge,
(ParamInt<px4::params::FW_LND_ABORT>) _param_fw_lnd_abort,
(ParamBool<px4::params::FW_LND_TER_REL>) _param_fw_lnd_ter_rel
(ParamInt<px4::params::FW_LND_ABORT>) _param_fw_lnd_abort
)
};