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Encapsulate loiter and position setpoint handling

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This commit encapsulates the position setpoint and loiter setpoint handling into a single method, in order to make the code easier to understand
4be452
This commit is contained in:
Jaeyoung-Lim
2021-10-14 11:18:02 +02:00
committed by JaeyoungLim
parent f08f2a340d
commit 581ec224be
2 changed files with 392 additions and 245 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+8 -3
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@@ -320,12 +320,17 @@ private:
* @param dt Time step
*/
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_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_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);