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delete control_state and cleanup vehicle_attitude (#7882)

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This commit is contained in:
Daniel Agar
2017-09-21 16:24:53 -04:00
committed by GitHub
parent 5bea264a5f
commit b4755297ec
42 changed files with 776 additions and 1061 deletions
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src/modules/vtol_att_control/standard.cpp
+11 -12
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@@ -72,7 +72,7 @@ Standard::Standard(VtolAttitudeControl *attc) :
_params_handles_standard.front_trans_time_min = param_find("VT_TRANS_MIN_TM");
_params_handles_standard.down_pitch_max = param_find("VT_DWN_PITCH_MAX");
_params_handles_standard.forward_thrust_scale = param_find("VT_FWD_THRUST_SC");
_params_handles_standard.airspeed_mode = param_find("FW_ARSP_MODE");
_params_handles_standard.airspeed_disabled = param_find("FW_ARSP_MODE");
_params_handles_standard.pitch_setpoint_offset = param_find("FW_PSP_OFF");
_params_handles_standard.reverse_output = param_find("VT_B_REV_OUT");
_params_handles_standard.reverse_delay = param_find("VT_B_REV_DEL");
@@ -131,8 +131,8 @@ Standard::parameters_update()
param_get(_params_handles_standard.forward_thrust_scale, &_params_standard.forward_thrust_scale);
/* airspeed mode */
param_get(_params_handles_standard.airspeed_mode, &i);
_params_standard.airspeed_mode = math::constrain(i, 0, 2);
param_get(_params_handles_standard.airspeed_disabled, &i);
_params_standard.airspeed_disabled = math::constrain(i, 0, 1);
/* pitch setpoint offset */
param_get(_params_handles_standard.pitch_setpoint_offset, &v);
@@ -240,7 +240,7 @@ void Standard::update_vtol_state()
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
if (((_params_standard.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED ||
if (((_params_standard.airspeed_disabled == 1 ||
_airspeed->indicated_airspeed_m_s >= _params_standard.airspeed_trans) &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start)
> (_params_standard.front_trans_time_min * 1000000.0f)) ||
@@ -308,14 +308,13 @@ void Standard::update_transition_state()
// time based blending when no airspeed sensor is set
} else if (_params_standard.airspeed_mode == control_state_s::AIRSPD_MODE_DISABLED &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) < (_params_standard.front_trans_time_min * 1000000.0f) &&
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) > ((_params_standard.front_trans_time_min / 2.0f) *
1000000.0f)
} else if (_params_standard.airspeed_disabled &&
hrt_elapsed_time(&_vtol_schedule.transition_start) < (_params_standard.front_trans_time_min * 1e6f) &&
hrt_elapsed_time(&_vtol_schedule.transition_start) > ((_params_standard.front_trans_time_min / 2.0f) * 1e6f)
) {
float weight = 1.0f - ((float)(hrt_elapsed_time(&_vtol_schedule.transition_start) - ((
_params_standard.front_trans_time_min / 2.0f) * 1000000.0f)) /
((_params_standard.front_trans_time_min / 2.0f) * 1000000.0f));
float weight = 1.0f - ((hrt_elapsed_time(&_vtol_schedule.transition_start) - ((
_params_standard.front_trans_time_min / 2.0f) * 1e6f)) /
((_params_standard.front_trans_time_min / 2.0f) * 1e6f));
weight = math::constrain(weight, 0.0f, 1.0f);
@@ -340,7 +339,7 @@ void Standard::update_transition_state()
// check front transition timeout
if (_params_standard.front_trans_timeout > FLT_EPSILON) {
if ((float)hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params_standard.front_trans_timeout * 1000000.0f)) {
if (hrt_elapsed_time(&_vtol_schedule.transition_start) > (_params_standard.front_trans_timeout * 1e6f)) {
// transition timeout occured, abort transition
_attc->abort_front_transition("Transition timeout");
}