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fw pos ctrl: rename position control mode variable

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This commit is contained in:
Thomas Stastny
2022-07-18 10:49:27 -04:00
committed by Daniel Agar
parent 5648deb5a1
commit c447064596
1 changed files with 7 additions and 7 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+7 -7
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@@ -752,7 +752,7 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now, bool
return; // do not publish the setpoint
}
FW_POSCTRL_MODE last_position_control_mode = _control_mode_current;
FW_POSCTRL_MODE commanded_position_control_mode = _control_mode_current;
_skipping_takeoff_detection = false;
@@ -770,7 +770,7 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now, bool
} else {
_control_mode_current = FW_POSCTRL_MODE_AUTO_TAKEOFF;
if (last_position_control_mode != FW_POSCTRL_MODE_AUTO_TAKEOFF && !_landed) {
if (commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_TAKEOFF && !_landed) {
// skip takeoff detection when switching from any other mode, auto or manual,
// while already in air.
// TODO: find a better place for / way of doing this
@@ -796,14 +796,14 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now, bool
&& pos_sp_curr_valid) {
// reset timer the first time we switch into this mode
if (last_position_control_mode != FW_POSCTRL_MODE_AUTO_ALTITUDE
&& last_position_control_mode != FW_POSCTRL_MODE_AUTO_CLIMBRATE) {
if (commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_ALTITUDE
&& commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_CLIMBRATE) {
_time_in_fixed_bank_loiter = now;
}
if (hrt_elapsed_time(&_time_in_fixed_bank_loiter) < (_param_nav_gpsf_lt.get() * 1_s)
&& !_vehicle_status.in_transition_mode) {
if (last_position_control_mode != FW_POSCTRL_MODE_AUTO_ALTITUDE) {
if (commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_ALTITUDE) {
// Need to init because last loop iteration was in a different mode
mavlink_log_critical(&_mavlink_log_pub, "Start loiter with fixed bank angle.\t");
events::send(events::ID("fixedwing_position_control_fb_loiter"), events::Log::Critical,
@@ -813,7 +813,7 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now, bool
_control_mode_current = FW_POSCTRL_MODE_AUTO_ALTITUDE;
} else {
if (last_position_control_mode != FW_POSCTRL_MODE_AUTO_CLIMBRATE && !_vehicle_status.in_transition_mode) {
if (commanded_position_control_mode != FW_POSCTRL_MODE_AUTO_CLIMBRATE && !_vehicle_status.in_transition_mode) {
mavlink_log_critical(&_mavlink_log_pub, "Start descending.\t");
events::send(events::ID("fixedwing_position_control_descend"), events::Log::Critical, "Start descending");
}
@@ -823,7 +823,7 @@ FixedwingPositionControl::set_control_mode_current(const hrt_abstime &now, bool
} else if (_control_mode.flag_control_manual_enabled && _control_mode.flag_control_position_enabled) {
if (last_position_control_mode != FW_POSCTRL_MODE_MANUAL_POSITION) {
if (commanded_position_control_mode != FW_POSCTRL_MODE_MANUAL_POSITION) {
/* Need to init because last loop iteration was in a different mode */
_hdg_hold_yaw = _yaw; // yaw is not controlled, so set setpoint to current yaw
_hdg_hold_enabled = false; // this makes sure the waypoints are reset below