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MulticopterPositionControl: 2nd pass to move to FlightModeManager

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This commit is contained in:
Matthias Grob
2020-12-30 10:25:08 -05:00
committed by Daniel Agar
parent f52bad87e2
commit 88c274b3cd
4 changed files with 81 additions and 110 deletions
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src/modules/flight_mode_manager/FlightModeManager.hpp
+7 -3
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013-2019 PX4 Development Team. All rights reserved.
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -51,7 +51,7 @@
class FlightModeManager : public ModuleBase<FlightModeManager>, public ModuleParams, public px4::WorkItem
{
public:
FlightModeManager();
FlightModeManager(bool vtol = false);
~FlightModeManager() override;
/** @see ModuleBase */
@@ -70,6 +70,7 @@ public:
private:
void Run() override;
void updateParams() override;
void start_flight_task();
void check_failure(bool task_failure, uint8_t nav_state);
void send_vehicle_cmd_do(uint8_t nav_state);
@@ -105,6 +106,9 @@ private:
DEFINE_PARAMETERS(
(ParamInt<px4::params::MPC_POS_MODE>) _param_mpc_pos_mode,
(ParamFloat<px4::params::MPC_TILTMAX_LND>) _param_mpc_tiltmax_lnd,
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up
(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up,
(ParamFloat<px4::params::MPC_SPOOLUP_TIME>) _param_mpc_spoolup_time,
(ParamFloat<px4::params::MPC_TKO_RAMP_T>) _param_mpc_tko_ramp_t,
(ParamFloat<px4::params::MPC_Z_VEL_P_ACC>) _param_mpc_z_vel_p_acc
);
};