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Move setmode outside of control_position

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This commit moves the position controller mode handling outside of the control_position method.

The control_method is renamed to control_auto
This commit is contained in:
Jaeyoung-Lim
2021-10-14 11:18:02 +02:00
committed by JaeyoungLim
parent ae9e91f90c
commit 443666199e
2 changed files with 298 additions and 261 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+16 -13
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@@ -321,19 +321,22 @@ private:
*/
void update_desired_altitude(float dt);
uint8_t handle_setpoint_type(const uint8_t setpoint_type, const position_setpoint_s &pos_sp_curr);
bool control_position(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next);
void control_position_setpoint(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
void control_loiter(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next);
void control_takeoff(const hrt_abstime &now, const float dt, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);
void control_landing(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);
void control_auto(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next);
void control_auto_position(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr);
void control_auto_loiter(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr, const position_setpoint_s &pos_sp_next);
void control_auto_takeoff(const hrt_abstime &now, const float dt, const Vector2d &curr_pos,
const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);
void control_auto_landing(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);
void control_altitude(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed);
void control_position(const hrt_abstime &now, const Vector2d &curr_pos, const Vector2f &ground_speed);
float get_tecs_pitch();
float get_tecs_thrust();