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Mission topic: Use mission topic instead of global position for triplet

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This commit is contained in:
Julian Oes
2013-11-20 12:46:25 +01:00
parent a9e51105c8
commit a6c5a19206
9 changed files with 100 additions and 97 deletions
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src/modules/fixedwing_backside/fixedwing.cpp
+5 -5
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@@ -117,7 +117,7 @@ BlockMultiModeBacksideAutopilot::BlockMultiModeBacksideAutopilot(SuperBlock *par
_vCmd(this, "V_CMD"),
_crMax(this, "CR_MAX"),
_attPoll(),
_lastPosCmd(),
_lastMissionCmd(),
_timeStamp(0)
{
_attPoll.fd = _att.getHandle();
@@ -141,8 +141,8 @@ void BlockMultiModeBacksideAutopilot::update()
setDt(dt);
// store old position command before update if new command sent
if (_posCmd.updated()) {
_lastPosCmd = _posCmd.getData();
if (_missionCmd.updated()) {
_lastMissionCmd = _missionCmd.getData();
}
// check for new updates
@@ -159,7 +159,7 @@ void BlockMultiModeBacksideAutopilot::update()
if (_status.main_state == MAIN_STATE_AUTO) {
// TODO use vehicle_control_mode here?
// update guidance
_guide.update(_pos, _att, _posCmd.current, _lastPosCmd.current);
_guide.update(_pos, _att, _missionCmd.current, _lastMissionCmd.current);
}
// XXX handle STABILIZED (loiter on spot) as well
@@ -182,7 +182,7 @@ void BlockMultiModeBacksideAutopilot::update()
float vCmd = _vLimit.update(_vCmd.get());
// altitude hold
float dThrottle = _h2Thr.update(_posCmd.current.altitude - _pos.alt);
float dThrottle = _h2Thr.update(_missionCmd.current.altitude - _pos.alt);
// heading hold
float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw);