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FW Position Control: Clean up speed mode params

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-11-25 09:50:28 +01:00
parent 55809e809c
commit 810c69d6ab
3 changed files with 13 additions and 13 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+5 -5
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@@ -132,7 +132,7 @@ FixedwingPositionControl::parameters_update()
_tecs.set_seb_rate_ff_gain(_param_seb_rate_ff.get());
_tecs.set_speed_weight_eco(_param_fw_t_spdweight_eco.get());
_tecs.set_height_error_time_constant_eco(_param_fw_t_h_error_tc_eco.get());
_tecs.set_height_error_time_constant_eco(_param_fw_t_alt_tc_eco.get());
// Landing slope
@@ -443,7 +443,7 @@ FixedwingPositionControl::get_cruise_airspeed_setpoint(const hrt_abstime &now, c
void
FixedwingPositionControl::updateSpeedMode()
{
FW_SPEED_MODE_COMMANDED new_mode = static_cast<FW_SPEED_MODE_COMMANDED>(_fw_spd_mode_set.get());
FW_SPEED_MODE_COMMANDED new_mode = static_cast<FW_SPEED_MODE_COMMANDED>(_param_fw_spd_mode_set.get());
switch (new_mode) {
case NORMAL:
@@ -495,9 +495,9 @@ FixedwingPositionControl::updateSpeedMode()
void
FixedwingPositionControl::check_eco_dash_allowed()
{
const float altitude_amsl_min = max(_tecs.get_hgt_setpoint() - fw_alt_err_u.get(),
_local_pos.ref_alt + fw_alt_min.get());
const float altitude_amsl_max = _tecs.get_hgt_setpoint() + fw_alt_err_o.get();
const float altitude_amsl_min = max(_tecs.get_hgt_setpoint() - _param_fw_spdm_alt_er_u.get(),
_local_pos.ref_alt + _param_fw_alt_spdm_min.get());
const float altitude_amsl_max = _tecs.get_hgt_setpoint() + _param_fw_spdm_alt_er_o.get();
const bool altitdue_conditions_met = _current_altitude <= altitude_amsl_max
&& _current_altitude >= altitude_amsl_min;