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FWRateController: use param find for VT_DIFTHR_EN as pure FW build doesn't have VTOL module built

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-06-16 15:07:04 +02:00
parent 69aebe650b
commit 4632fbd600
2 changed files with 13 additions and 5 deletions
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src/modules/fw_rate_control/FixedwingRateControl.cpp
+9 -3
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@@ -48,6 +48,8 @@ FixedwingRateControl::FixedwingRateControl(bool vtol) :
_vehicle_thrust_setpoint_pub(vtol ? ORB_ID(vehicle_thrust_setpoint_virtual_fw) : ORB_ID(vehicle_thrust_setpoint)),
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle"))
{
_handle_param_vt_fw_difthr_en = param_find("VT_FW_DIFTHR_EN");
/* fetch initial parameter values */
parameters_update();
@@ -86,6 +88,10 @@ FixedwingRateControl::parameters_update()
// set FF gains to 0 as we add the FF control outside of the rate controller
Vector3f(0.f, 0.f, 0.f));
if (_handle_param_vt_fw_difthr_en != PARAM_INVALID) {
param_get(_handle_param_vt_fw_difthr_en, &_param_vt_fw_difthr_en);
}
return PX4_OK;
}
@@ -281,9 +287,9 @@ void FixedwingRateControl::Run()
// Update saturation status from control allocation feedback
// TODO: send the unallocated value directly for better anti-windup
Vector3<bool> diffthr_enabled(
_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VTOLFixedWingDifferentialThrustEnabledBit::ROLL_BIT),
_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VTOLFixedWingDifferentialThrustEnabledBit::PITCH_BIT),
_param_vt_fw_difthr_en.get() & static_cast<int32_t>(VTOLFixedWingDifferentialThrustEnabledBit::YAW_BIT)
_param_vt_fw_difthr_en & static_cast<int32_t>(VTOLFixedWingDifferentialThrustEnabledBit::ROLL_BIT),
_param_vt_fw_difthr_en & static_cast<int32_t>(VTOLFixedWingDifferentialThrustEnabledBit::PITCH_BIT),
_param_vt_fw_difthr_en & static_cast<int32_t>(VTOLFixedWingDifferentialThrustEnabledBit::YAW_BIT)
);
if (_vehicle_status.is_vtol_tailsitter) {