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fw_pos_control_l1: pass time through from run

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This commit is contained in:
Daniel Agar
2020-08-10 10:51:52 -04:00
parent 258e5ca5c9
commit 560c22e612
9 changed files with 72 additions and 82 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+7 -4
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@@ -325,11 +325,14 @@ private:
*/
bool update_desired_altitude(float dt);
bool control_position(const Vector2f &curr_pos, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev,
bool control_position(const hrt_abstime &now, const Vector2f &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 Vector2f &curr_pos, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev,
void control_takeoff(const hrt_abstime &now, const Vector2f &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);
void control_landing(const Vector2f &curr_pos, const Vector2f &ground_speed, const position_setpoint_s &pos_sp_prev,
void control_landing(const hrt_abstime &now, const Vector2f &curr_pos, const Vector2f &ground_speed,
const position_setpoint_s &pos_sp_prev,
const position_setpoint_s &pos_sp_curr);
float get_tecs_pitch();
@@ -349,7 +352,7 @@ private:
/*
* Call TECS : a wrapper function to call the TECS implementation
*/
void tecs_update_pitch_throttle(float alt_sp, float airspeed_sp,
void tecs_update_pitch_throttle(const hrt_abstime &now, float alt_sp, float airspeed_sp,
float pitch_min_rad, float pitch_max_rad,
float throttle_min, float throttle_max, float throttle_cruise,
bool climbout_mode, float climbout_pitch_min_rad,