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navigator move parameters out of MissionBlock

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- MissionBlock is an interface with > 10 implementations
This commit is contained in:
Daniel Agar
2017-10-26 22:43:53 +02:00
committed by Lorenz Meier
parent 8e457b6037
commit 4416c4ddb3
26 changed files with 291 additions and 352 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+7 -6
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@@ -49,7 +49,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.airspeed_min = param_find("FW_AIRSPD_MIN");
_parameter_handles.airspeed_trim = param_find("FW_AIRSPD_TRIM");
_parameter_handles.airspeed_max = param_find("FW_AIRSPD_MAX");
_parameter_handles.airspeed_trans = param_find("VT_ARSP_TRANS");
_parameter_handles.airspeed_disabled = param_find("FW_ARSP_MODE");
_parameter_handles.pitch_limit_min = param_find("FW_P_LIM_MIN");
@@ -94,8 +93,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
_parameter_handles.heightrate_ff = param_find("FW_T_HRATE_FF");
_parameter_handles.speedrate_p = param_find("FW_T_SRATE_P");
_parameter_handles.vtol_type = param_find("VT_TYPE");
/* fetch initial parameter values */
parameters_update();
}
@@ -135,7 +132,6 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.airspeed_min, &(_parameters.airspeed_min));
param_get(_parameter_handles.airspeed_trim, &(_parameters.airspeed_trim));
param_get(_parameter_handles.airspeed_max, &(_parameters.airspeed_max));
param_get(_parameter_handles.airspeed_trans, &(_parameters.airspeed_trans));
param_get(_parameter_handles.airspeed_disabled, &(_parameters.airspeed_disabled));
param_get(_parameter_handles.pitch_limit_min, &(_parameters.pitch_limit_min));
@@ -194,7 +190,6 @@ FixedwingPositionControl::parameters_update()
param_get(_parameter_handles.land_flare_pitch_max_deg, &(_parameters.land_flare_pitch_max_deg));
param_get(_parameter_handles.land_use_terrain_estimate, &(_parameters.land_use_terrain_estimate));
param_get(_parameter_handles.land_airspeed_scale, &(_parameters.land_airspeed_scale));
param_get(_parameter_handles.vtol_type, &(_parameters.vtol_type));
_l1_control.set_l1_damping(_parameters.l1_damping);
_l1_control.set_l1_period(_parameters.l1_period);
@@ -288,6 +283,11 @@ FixedwingPositionControl::vehicle_status_poll()
if (_vehicle_status.is_vtol) {
_attitude_setpoint_id = ORB_ID(fw_virtual_attitude_setpoint);
_parameter_handles.airspeed_trans = param_find("VT_ARSP_TRANS");
_parameter_handles.vtol_type = param_find("VT_TYPE");
parameters_update();
} else {
_attitude_setpoint_id = ORB_ID(vehicle_attitude_setpoint);
}
@@ -1059,7 +1059,8 @@ FixedwingPositionControl::control_position(const math::Vector<2> &curr_pos, cons
if (_runway_takeoff.runwayTakeoffEnabled()) {
if (!_runway_takeoff.isInitialized()) {
_runway_takeoff.init(_yaw, _global_pos.lat, _global_pos.lon);
Eulerf euler(Quatf(_att.q));
_runway_takeoff.init(euler.psi(), _global_pos.lat, _global_pos.lon);
/* need this already before takeoff is detected
* doesn't matter if it gets reset when takeoff is detected eventually */