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Removed is_rotor_wing, replaced with vehicle_type

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Timothy Scott
2019-06-11 12:54:22 +02:00
committed by Julian Oes
parent 2ca40bfc65
commit a134da6e12
21 changed files with 150 additions and 85 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+5 -4
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@@ -716,7 +716,7 @@ FixedwingPositionControl::update_desired_altitude(float dt)
}
if (_vehicle_status.is_vtol) {
if (_vehicle_status.is_rotary_wing || _vehicle_status.in_transition_mode) {
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING || _vehicle_status.in_transition_mode) {
_hold_alt = _global_pos.alt;
}
}
@@ -764,7 +764,7 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
_l1_control.set_dt(dt);
/* only run position controller in fixed-wing mode and during transitions for VTOL */
if (_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode) {
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING && !_vehicle_status.in_transition_mode) {
_control_mode_current = FW_POSCTRL_MODE_OTHER;
return false;
}
@@ -1799,7 +1799,8 @@ FixedwingPositionControl::run()
}
// only publish status in full FW mode
if (!_vehicle_status.is_rotary_wing && !_vehicle_status.in_transition_mode) {
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING
&& !_vehicle_status.in_transition_mode) {
status_publish();
}
}
@@ -1869,7 +1870,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee
// do not run TECS if vehicle is a VTOL and we are in rotary wing mode or in transition
// (it should also not run during VTOL blending because airspeed is too low still)
if (_vehicle_status.is_vtol) {
if (_vehicle_status.is_rotary_wing || _vehicle_status.in_transition_mode) {
if (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING || _vehicle_status.in_transition_mode) {
run_tecs = false;
}