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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/mc_pos_control/mc_pos_control_main.cpp
+12 -13
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@@ -254,7 +254,9 @@ private:
float slow_land_alt1;
float slow_land_alt2;
int32_t alt_mode;
int32_t opt_recover;
bool opt_recover;
float rc_flt_smp_rate;
float rc_flt_cutoff;
@@ -528,7 +530,6 @@ MulticopterPositionControl::MulticopterPositionControl() :
_params_handles.hold_max_xy = param_find("MPC_HOLD_MAX_XY");
_params_handles.hold_max_z = param_find("MPC_HOLD_MAX_Z");
_params_handles.alt_mode = param_find("MPC_ALT_MODE");
_params_handles.opt_recover = param_find("VT_OPT_RECOV_EN");
_params_handles.rc_flt_cutoff = param_find("RC_FLT_CUTOFF");
_params_handles.rc_flt_smp_rate = param_find("RC_FLT_SMP_RATE");
@@ -655,7 +656,11 @@ MulticopterPositionControl::parameters_update(bool force)
param_get(_params_handles.alt_mode, &v_i);
_params.alt_mode = v_i;
param_get(_params_handles.opt_recover, &_params.opt_recover);
if (_vehicle_status.is_vtol) {
int32_t i = 0;
param_get(_params_handles.opt_recover, &i);
_params.opt_recover = (i == 1);
}
/* mc attitude control parameters*/
/* manual control scale */
@@ -714,6 +719,9 @@ MulticopterPositionControl::poll_subscriptions()
if (_vehicle_status.is_vtol) {
_attitude_setpoint_id = ORB_ID(mc_virtual_attitude_setpoint);
_params_handles.opt_recover = param_find("VT_OPT_RECOV_EN");
parameters_update(true);
} else {
_attitude_setpoint_id = ORB_ID(vehicle_attitude_setpoint);
}
@@ -1464,14 +1472,6 @@ MulticopterPositionControl::control_non_manual(float dt)
control_auto(dt);
}
/* weather-vane mode for vtol: disable yaw control */
if (_vehicle_status.is_vtol) {
_att_sp.disable_mc_yaw_control = _pos_sp_triplet.current.disable_mc_yaw_control;
} else {
_att_sp.disable_mc_yaw_control = false;
}
// guard against any bad velocity values
bool velocity_valid = PX4_ISFINITE(_pos_sp_triplet.current.vx) &&
PX4_ISFINITE(_pos_sp_triplet.current.vy) &&
@@ -2880,7 +2880,7 @@ MulticopterPositionControl::generate_attitude_setpoint(float dt)
_att_sp.yaw_body += euler_sp(2);
/* only if optimal recovery is not used, modify roll/pitch */
if (_params.opt_recover <= 0) {
if (!(_vehicle_status.is_vtol && _params.opt_recover)) {
// construct attitude setpoint rotation matrix. modify the setpoints for roll
// and pitch such that they reflect the user's intention even if a yaw error
// (yaw_sp - yaw) is present. In the presence of a yaw error constructing a rotation matrix
@@ -3014,7 +3014,6 @@ MulticopterPositionControl::task_main()
/* set default max velocity in xy to vel_max */
_vel_max_xy = _params.vel_max_xy;
/* reset flags when landed */
if (_vehicle_land_detected.landed) {
_reset_pos_sp = true;