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AirModeYaw - Change airmode type from bool to int

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bresch
2018-12-13 09:50:07 +01:00
committed by Beat Küng
parent b2fd8abf9e
commit 7cc00f41d2
12 changed files with 33 additions and 39 deletions
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src/drivers/px4fmu/fmu.cpp
+4 -7
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@@ -237,7 +237,7 @@ private:
float _mot_t_max; ///< maximum rise time for motor (slew rate limiting)
float _thr_mdl_fac; ///< thrust to pwm modelling factor
bool _airmode; ///< multicopter air-mode
int32_t _airmode; ///< multicopter air-mode
MotorOrdering _motor_ordering;
perf_counter_t _perf_control_latency;
@@ -321,7 +321,7 @@ PX4FMU::PX4FMU(bool run_as_task) :
_to_mixer_status(nullptr),
_mot_t_max(0.0f),
_thr_mdl_fac(0.0f),
_airmode(false),
_airmode(0),
_motor_ordering(MotorOrdering::PX4),
_perf_control_latency(perf_alloc(PC_ELAPSED, "fmu control latency"))
{
@@ -1195,7 +1195,7 @@ PX4FMU::cycle()
}
}
/* overwrite outputs in case of lockdown with disarmed PWM values */
/* overwrite outputs in case of lockdown or parachute triggering with disarmed PWM values */
if (_armed.lockdown || _armed.manual_lockdown) {
for (size_t i = 0; i < mixed_num_outputs; i++) {
pwm_limited[i] = _disarmed_pwm[i];
@@ -1382,10 +1382,7 @@ void PX4FMU::update_params()
param_handle = param_find("MC_AIRMODE");
if (param_handle != PARAM_INVALID) {
int32_t val;
param_get(param_handle, &val);
_airmode = val > 0;
PX4_DEBUG("%s: %d", "MC_AIRMODE", _airmode);
param_get(param_handle, &_airmode);
}
// motor ordering