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Removed is_rotor_wing, replaced with vehicle_type

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This commit is contained in:
Timothy Scott
2019-06-13 10:04:26 +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/navigator/navigator_main.cpp
+5 -5
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@@ -761,7 +761,7 @@ Navigator::get_acceptance_radius()
float
Navigator::get_default_altitude_acceptance_radius()
{
if (!get_vstatus()->is_rotary_wing) {
if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
return _param_nav_fw_alt_rad.get();
} else {
@@ -781,7 +781,7 @@ Navigator::get_default_altitude_acceptance_radius()
float
Navigator::get_altitude_acceptance_radius()
{
if (!get_vstatus()->is_rotary_wing) {
if (get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) {
const position_setpoint_s &next_sp = get_position_setpoint_triplet()->next;
if (next_sp.type == position_setpoint_s::SETPOINT_TYPE_LAND && next_sp.valid) {
@@ -797,7 +797,7 @@ float
Navigator::get_cruising_speed()
{
/* there are three options: The mission-requested cruise speed, or the current hover / plane speed */
if (_vstatus.is_rotary_wing) {
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (is_planned_mission() && _mission_cruising_speed_mc > 0.0f) {
return _mission_cruising_speed_mc;
@@ -818,7 +818,7 @@ Navigator::get_cruising_speed()
void
Navigator::set_cruising_speed(float speed)
{
if (_vstatus.is_rotary_wing) {
if (_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
_mission_cruising_speed_mc = speed;
} else {
@@ -1069,7 +1069,7 @@ bool
Navigator::force_vtol()
{
return _vstatus.is_vtol &&
(!_vstatus.is_rotary_wing || _vstatus.in_transition_to_fw)
(_vstatus.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING || _vstatus.in_transition_to_fw)
&& _param_nav_force_vt.get();
}