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navigator: lot's of cleanup (WIP)

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This commit is contained in:
Julian Oes
2014-04-21 17:36:59 +02:00
parent 488785250f
commit c3c0328e8b
21 changed files with 980 additions and 953 deletions
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src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+2 -6
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@@ -150,8 +150,6 @@ private:
perf_counter_t _loop_perf; /**< loop performance counter */
bool _setpoint_valid; /**< flag if the position control setpoint is valid */
/** manual control states */
float _seatbelt_hold_heading; /**< heading the system should hold in seatbelt mode */
double _loiter_hold_lat;
@@ -393,7 +391,6 @@ FixedwingPositionControl::FixedwingPositionControl() :
_loop_perf(perf_alloc(PC_ELAPSED, "fw l1 control")),
/* states */
_setpoint_valid(false),
_loiter_hold(false),
land_noreturn_horizontal(false),
land_noreturn_vertical(false),
@@ -663,7 +660,6 @@ FixedwingPositionControl::vehicle_setpoint_poll()
if (pos_sp_triplet_updated) {
orb_copy(ORB_ID(position_setpoint_triplet), _pos_sp_triplet_sub, &_pos_sp_triplet);
_setpoint_valid = true;
}
}
@@ -708,7 +704,7 @@ void
FixedwingPositionControl::calculate_gndspeed_undershoot(const math::Vector<2> &current_position, const math::Vector<2> &ground_speed, const struct position_setpoint_triplet_s &pos_sp_triplet)
{
if (_global_pos_valid && !(pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER)) {
if (pos_sp_triplet.current.valid && !(pos_sp_triplet.current.type == SETPOINT_TYPE_LOITER)) {
/* rotate ground speed vector with current attitude */
math::Vector<2> yaw_vector(_R_nb(0, 0), _R_nb(1, 0));
@@ -781,7 +777,7 @@ FixedwingPositionControl::control_position(const math::Vector<2> &current_positi
// XXX this should only execute if auto AND safety off (actuators active),
// else integrators should be constantly reset.
if (_control_mode.flag_control_position_enabled) {
if (pos_sp_triplet.current.valid) {
/* get circle mode */
bool was_circle_mode = _l1_control.circle_mode();