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added airspeed mode enum to control state topic

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Signed-off-by: Roman <bapstr@ethz.ch>
This commit is contained in:
Roman
2016-06-23 09:08:35 +02:00
parent 22db94e352
commit 7f8c183d99
5 changed files with 34 additions and 28 deletions
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src/modules/vtol_att_control/standard.cpp
+3 -2
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@@ -187,7 +187,8 @@ void Standard::update_vtol_state()
} 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
if (((_params_standard.airspeed_mode == 2 || _airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans) &&
if (((_params_standard.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED ||
_airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans) &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start)
> (_params_standard.front_trans_time_min * 1000000.0f)) ||
can_transition_on_ground()) {
@@ -250,7 +251,7 @@ void Standard::update_transition_state()
_mc_throttle_weight = weight;
// time based blending when no airspeed sensor is set
} else if (_params_standard.airspeed_mode == 2 &&
} else if (_params_standard.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) < (_params_standard.front_trans_time_min * 1000000.0f)
) {
float weight = 1.0f - (float)(hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_standard.front_trans_time_min * 1000000.0f));