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fw att+pos ctrl: use enum for flaps configs

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This commit is contained in:
Thomas Stastny
2018-07-08 23:15:01 +02:00
committed by Lorenz Meier
parent 0c3399433d
commit 8a7919bcb6
3 changed files with 13 additions and 8 deletions
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src/modules/fw_att_control/FixedwingAttitudeControl.cpp
+6 -4
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@@ -878,13 +878,14 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_parameters.flaps_scale) > 0.01f) {
switch (_att_sp.apply_flaps) {
case 0 : flap_control = 0.0f; // no flaps
case vehicle_attitude_setpoint_s::FLAPS_OFF : flap_control = 0.0f; // no flaps
break;
case 1 : flap_control = 1.0f * _parameters.flaps_scale; // landing flaps
case vehicle_attitude_setpoint_s::FLAPS_LAND : flap_control = 1.0f * _parameters.flaps_scale; // landing flaps
break;
case 2 : flap_control = 1.0f * _parameters.flaps_scale * _parameters.flaps_takeoff_scale; // take-off flaps
case vehicle_attitude_setpoint_s::FLAPS_TAKEOFF : flap_control = 1.0f * _parameters.flaps_scale *
_parameters.flaps_takeoff_scale; // take-off flaps
break;
}
}
@@ -907,7 +908,8 @@ void FixedwingAttitudeControl::control_flaps(const float dt)
} else if (_vcontrol_mode.flag_control_auto_enabled
&& fabsf(_parameters.flaperon_scale) > 0.01f) {
flaperon_control = (_att_sp.apply_flaps == 1) ? 1.0f * _parameters.flaperon_scale : 0.0f;
flaperon_control = (_att_sp.apply_flaps == vehicle_attitude_setpoint_s::FLAPS_LAND) ? 1.0f *
_parameters.flaperon_scale : 0.0f;
}
// move the actual control value continuous with time, full flap travel in 1sec