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mc_att_control: don't store full vehicle_land_detected copy

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This commit is contained in:
Daniel Agar
2020-08-10 14:07:42 -04:00
parent 41a1675c53
commit 8c42c38650
2 changed files with 12 additions and 5 deletions
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src/modules/mc_att_control/mc_att_control_main.cpp
+11 -4
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@@ -104,7 +104,7 @@ MulticopterAttitudeControl::parameters_updated()
float
MulticopterAttitudeControl::throttle_curve(float throttle_stick_input)
{
const float throttle_min = _vehicle_land_detected.landed ? 0.0f : _param_mpc_manthr_min.get();
const float throttle_min = _landed ? 0.0f : _param_mpc_manthr_min.get();
// throttle_stick_input is in range [0, 1]
switch (_param_mpc_thr_curve.get()) {
@@ -268,7 +268,15 @@ MulticopterAttitudeControl::Run()
/* check for updates in other topics */
_manual_control_setpoint_sub.update(&_manual_control_setpoint);
_v_control_mode_sub.update(&_v_control_mode);
_vehicle_land_detected_sub.update(&_vehicle_land_detected);
if (_vehicle_land_detected_sub.updated()) {
vehicle_land_detected_s vehicle_land_detected;
if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) {
_landed = vehicle_land_detected.landed;
}
}
_vehicle_status_sub.update(&_vehicle_status);
/* Check if we are in rattitude mode and the pilot is above the threshold on pitch
@@ -334,8 +342,7 @@ MulticopterAttitudeControl::Run()
// reset yaw setpoint during transitions, tailsitter.cpp generates
// attitude setpoint for the transition
_reset_yaw_sp = (!attitude_setpoint_generated && !_v_control_mode.flag_control_rattitude_enabled) ||
_vehicle_land_detected.landed ||
(_vehicle_status.is_vtol && _vehicle_status.in_transition_mode);
_landed || (_vehicle_status.is_vtol && _vehicle_status.in_transition_mode);
}