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vtol_att_control: use airspeed_disabled flag instead of airspeed mode

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-03-07 14:01:51 +01:00
committed by Roman Bapst
parent 8f71633516
commit 6900f97b72
3 changed files with 5 additions and 4 deletions
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src/modules/vtol_att_control/standard.cpp
+2 -2
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@@ -190,7 +190,7 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) { } else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode // continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
if (((_params->airspeed_mode == 1 || if (((_params->airspeed_disabled ||
_airspeed->indicated_airspeed_m_s >= _params->transition_airspeed) && _airspeed->indicated_airspeed_m_s >= _params->transition_airspeed) &&
time_since_trans_start > _params->front_trans_time_min * 1e6f) || time_since_trans_start > _params->front_trans_time_min * 1e6f) ||
can_transition_on_ground()) { can_transition_on_ground()) {
@@ -260,7 +260,7 @@ void Standard::update_transition_state()
_airspeed_trans_blend_margin; _airspeed_trans_blend_margin;
// time based blending when no airspeed sensor is set // time based blending when no airspeed sensor is set
} else if (_params->airspeed_mode == 1 && } else if (_params->airspeed_disabled &&
time_since_trans_start < _params->front_trans_time_min * 1e6f && time_since_trans_start < _params->front_trans_time_min * 1e6f &&
time_since_trans_start > _params->front_trans_time_min * 1e6f / 2.0f) { time_since_trans_start > _params->front_trans_time_min * 1e6f / 2.0f) {
mc_weight = 1.0f - ((time_since_trans_start - _params->front_trans_time_min * 1e6f / 2.0f) / mc_weight = 1.0f - ((time_since_trans_start - _params->front_trans_time_min * 1e6f / 2.0f) /
src/modules/vtol_att_control/vtol_att_control_main.cpp
+2 -1
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@@ -505,7 +505,8 @@ VtolAttitudeControl::parameters_update()
param_get(_params_handles.front_trans_throttle, &_params.front_trans_throttle); param_get(_params_handles.front_trans_throttle, &_params.front_trans_throttle);
param_get(_params_handles.back_trans_throttle, &_params.back_trans_throttle); param_get(_params_handles.back_trans_throttle, &_params.back_trans_throttle);
param_get(_params_handles.airspeed_blend, &_params.airspeed_blend); param_get(_params_handles.airspeed_blend, &_params.airspeed_blend);
param_get(_params_handles.airspeed_mode, &_params.airspeed_mode); param_get(_params_handles.airspeed_mode, &l);
_params.airspeed_disabled = l != 0;
param_get(_params_handles.front_trans_timeout, &_params.front_trans_timeout); param_get(_params_handles.front_trans_timeout, &_params.front_trans_timeout);
param_get(_params_handles.mpc_xy_cruise, &_params.mpc_xy_cruise); param_get(_params_handles.mpc_xy_cruise, &_params.mpc_xy_cruise);
src/modules/vtol_att_control/vtol_type.h
+1 -1
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@@ -67,7 +67,7 @@ struct Params {
float front_trans_throttle; float front_trans_throttle;
float back_trans_throttle; float back_trans_throttle;
float airspeed_blend; float airspeed_blend;
int32_t airspeed_mode; bool airspeed_disabled;
float front_trans_timeout; float front_trans_timeout;
float mpc_xy_cruise; float mpc_xy_cruise;
}; };