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vtol_att_control: update parameter strings to class enum

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Daniel Agar
2019-10-02 19:43:32 -04:00
parent c322f1d156
commit 5351f886ec
5 changed files with 45 additions and 37 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+4 -2
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@@ -42,6 +42,8 @@
#include "tailsitter.h"
#include "vtol_att_control_main.h"
#include <px4_param.h>
#define ARSP_YAW_CTRL_DISABLE 4.0f // airspeed at which we stop controlling yaw during a front transition
#define THROTTLE_TRANSITION_MAX 0.25f // maximum added thrust above last value in transition
#define PITCH_TRANSITION_FRONT_P1 -1.1f // pitch angle to switch to TRANSITION_P2
@@ -61,8 +63,8 @@ Tailsitter::Tailsitter(VtolAttitudeControl *attc) :
_flag_was_in_trans_mode = false;
_params_handles_tailsitter.front_trans_dur_p2 = param_find("VT_TRANS_P2_DUR");
_params_handles_tailsitter.fw_pitch_sp_offset = param_find("FW_PSP_OFF");
_params_handles_tailsitter.front_trans_dur_p2 = param_handle(px4::params::VT_TRANS_P2_DUR);
_params_handles_tailsitter.fw_pitch_sp_offset = param_handle(px4::params::FW_PSP_OFF);
}
void