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FW use lpos

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This commit is contained in:
Daniel Agar
2020-03-31 15:03:23 +03:00
committed by Roman Bapst
parent d303b73bc3
commit 59a7262c31
2 changed files with 72 additions and 59 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
+7 -4
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@@ -148,10 +148,10 @@ private:
orb_advert_t _mavlink_log_pub{nullptr};
uORB::SubscriptionCallbackWorkItem _global_pos_sub{this, ORB_ID(vehicle_global_position)};
uORB::SubscriptionCallbackWorkItem _local_pos_sub{this, ORB_ID(vehicle_local_position)};
uORB::Subscription _control_mode_sub{ORB_ID(vehicle_control_mode)}; ///< control mode subscription
uORB::Subscription _local_pos_sub{ORB_ID(vehicle_local_position)};
uORB::Subscription _global_pos_sub{ORB_ID(vehicle_global_position)};
uORB::Subscription _manual_control_sub{ORB_ID(manual_control_setpoint)}; ///< notification of manual control updates
uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)}; ///< notification of parameter updates
uORB::Subscription _pos_sp_triplet_sub{ORB_ID(position_setpoint_triplet)};
@@ -173,7 +173,6 @@ private:
vehicle_attitude_setpoint_s _att_sp {}; ///< vehicle attitude setpoint
vehicle_command_s _vehicle_command {}; ///< vehicle commands
vehicle_control_mode_s _control_mode {}; ///< control mode
vehicle_global_position_s _global_pos {}; ///< global vehicle position
vehicle_local_position_s _local_pos {}; ///< vehicle local position
vehicle_land_detected_s _vehicle_land_detected {}; ///< vehicle land detected
vehicle_status_s _vehicle_status {}; ///< vehicle status
@@ -181,6 +180,10 @@ private:
SubscriptionData<airspeed_validated_s> _airspeed_validated_sub{ORB_ID(airspeed_validated)};
SubscriptionData<vehicle_acceleration_s> _vehicle_acceleration_sub{ORB_ID(vehicle_acceleration)};
double _current_latitude{0};
double _current_longitude{0};
float _current_altitude{0.f};
perf_counter_t _loop_perf; ///< loop performance counter
float _hold_alt{0.0f}; ///< hold altitude for altitude mode
@@ -298,7 +301,7 @@ private:
/**
* Return the terrain estimate during takeoff or takeoff_alt if terrain estimate is not available
*/
float get_terrain_altitude_takeoff(float takeoff_alt, const vehicle_global_position_s &global_pos);
float get_terrain_altitude_takeoff(float takeoff_alt);
/**
* Check if we are in a takeoff situation