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TECS: renamed airspeed cruse to airspeed trim & general cleanup

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2022-07-12 09:07:20 +02:00
committed by Martina Rivizzigno
parent c05e0f076b
commit 6dbea21ef5
2 changed files with 12 additions and 10 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+4 -4
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@@ -125,7 +125,7 @@ FixedwingPositionControl::parameters_update()
_tecs.set_max_climb_rate(_param_fw_t_clmb_max.get());
_tecs.set_max_sink_rate(_param_fw_t_sink_max.get());
_tecs.set_speed_weight(_param_fw_t_spdweight.get());
_tecs.set_equivalent_airspeed_cruise(_param_fw_airspd_trim.get());
_tecs.set_equivalent_airspeed_trim(_param_fw_airspd_trim.get());
_tecs.set_equivalent_airspeed_min(_param_fw_airspd_min.get());
_tecs.set_equivalent_airspeed_max(_param_fw_airspd_max.get());
_tecs.set_min_sink_rate(_param_fw_t_sink_min.get());
@@ -189,16 +189,16 @@ FixedwingPositionControl::parameters_update()
if (_param_fw_airspd_trim.get() < _param_fw_airspd_min.get() ||
_param_fw_airspd_trim.get() > _param_fw_airspd_max.get()) {
mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Airspeed cruise out of min or max bounds\t");
mavlink_log_critical(&_mavlink_log_pub, "Config invalid: Airspeed trim out of min or max bounds\t");
/* EVENT
* @description
* - <param>FW_AIRSPD_MAX</param>: {1:.1}
* - <param>FW_AIRSPD_MIN</param>: {2:.1}
* - <param>FW_AIRSPD_TRIM</param>: {3:.1}
*/
events::send<float, float, float>(events::ID("fixedwing_position_control_conf_invalid_cruise_bounds"),
events::send<float, float, float>(events::ID("fixedwing_position_control_conf_invalid_trim_bounds"),
events::Log::Error,
"Invalid configuration: Airspeed cruise out of min or max bounds",
"Invalid configuration: Airspeed trim out of min or max bounds",
_param_fw_airspd_max.get(), _param_fw_airspd_min.get(), _param_fw_airspd_trim.get());
check_ret = PX4_ERROR;
}