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TECS: remove TECS_MODE enum and instead add descriptive boolean flag to tecs_status

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New flag: underspeed_mode_enabled.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-07-13 11:18:54 +02:00
committed by Thomas Stastny
parent a6fcf7b48c
commit 8741a9784d
4 changed files with 3 additions and 35 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.cpp
+1 -10
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@@ -485,16 +485,6 @@ FixedwingPositionControl::tecs_status_publish(float alt_sp, float equivalent_air
const TECS::DebugOutput &debug_output{_tecs.getStatus()};
switch (_tecs.tecs_mode()) {
case TECS::ECL_TECS_MODE_NORMAL:
tecs_status.mode = tecs_status_s::TECS_MODE_NORMAL;
break;
case TECS::ECL_TECS_MODE_UNDERSPEED:
tecs_status.mode = tecs_status_s::TECS_MODE_UNDERSPEED;
break;
}
tecs_status.altitude_sp = alt_sp;
tecs_status.altitude_reference = debug_output.altitude_reference;
tecs_status.height_rate_reference = debug_output.height_rate_reference;
@@ -516,6 +506,7 @@ FixedwingPositionControl::tecs_status_publish(float alt_sp, float equivalent_air
tecs_status.throttle_sp = _tecs.get_throttle_setpoint();
tecs_status.pitch_sp_rad = _tecs.get_pitch_setpoint();
tecs_status.throttle_trim = throttle_trim;
tecs_status.underspeed_mode_enabled = _tecs.underspeed_detected();
tecs_status.timestamp = hrt_absolute_time();