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QuadChute moved to VtolType

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This commit is contained in:
sander
2016-06-07 19:52:25 +02:00
committed by Roman
parent 2d61eddebf
commit cdf9864428
6 changed files with 28 additions and 20 deletions
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src/modules/vtol_att_control/standard.cpp
-17
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@@ -68,7 +68,6 @@ 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_thurst_scale = param_find("VT_FWD_THRUST_SC");
_params_handles_standard.fw_minimum_altitude = param_find("VT_FW_MIN_ALT");
}
Standard::~Standard()
@@ -115,9 +114,6 @@ Standard::parameters_update()
/* scale for fixed wing thrust used for forward acceleration in multirotor mode */
param_get(_params_handles_standard.forward_thurst_scale, &_params_standard.forward_thurst_scale);
/* QuadChute; minimum altitude for fixed wing flight */
param_get(_params_handles_standard.fw_minimum_altitude, &_params_standard.fw_minimum_altitude);
return OK;
}
@@ -262,12 +258,6 @@ void Standard::update_transition_state()
}
}
// quadchute
if(_params_standard.fw_minimum_altitude > FLT_EPSILON && _armed->armed){
if(-(_local_pos->z) < _params_standard.fw_minimum_altitude){
_attc->abort_front_transition();
}
}
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
@@ -373,13 +363,6 @@ void Standard::update_fw_state()
set_idle_fw(); // force them to stop, not just idle
_flag_enable_mc_motors = true;
}
// quadchute
if(_params_standard.fw_minimum_altitude > FLT_EPSILON && _armed->armed){
if(-(_local_pos->z) < _params_standard.fw_minimum_altitude){
_attc->abort_front_transition();
}
}
}
/**