fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-06 17:31:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

control_allocator: add scope to reduce stack usage by 256B

Browse Source
This commit is contained in:
Beat Küng
2021-12-24 20:06:13 -05:00
committed by Daniel Agar
parent 48be55dec8
commit d202bf9631
1 changed files with 22 additions and 20 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/control_allocator/ControlAllocator.cpp
+22 -20
View File
@@ -299,34 +299,36 @@ ControlAllocator::Run()
return; return;
} }
vehicle_status_s vehicle_status; {
vehicle_status_s vehicle_status;
if (_vehicle_status_sub.update(&vehicle_status)) { if (_vehicle_status_sub.update(&vehicle_status)) {
_armed = vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED; _armed = vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED;
ActuatorEffectiveness::FlightPhase flight_phase{ActuatorEffectiveness::FlightPhase::HOVER_FLIGHT}; ActuatorEffectiveness::FlightPhase flight_phase{ActuatorEffectiveness::FlightPhase::HOVER_FLIGHT};
// Check if the current flight phase is HOVER or FIXED_WING // Check if the current flight phase is HOVER or FIXED_WING
if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { if (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
flight_phase = ActuatorEffectiveness::FlightPhase::HOVER_FLIGHT; flight_phase = ActuatorEffectiveness::FlightPhase::HOVER_FLIGHT;
} else {
flight_phase = ActuatorEffectiveness::FlightPhase::FORWARD_FLIGHT;
}
// Special cases for VTOL in transition
if (vehicle_status.is_vtol && vehicle_status.in_transition_mode) {
if (vehicle_status.in_transition_to_fw) {
flight_phase = ActuatorEffectiveness::FlightPhase::TRANSITION_HF_TO_FF;
} else { } else {
flight_phase = ActuatorEffectiveness::FlightPhase::TRANSITION_FF_TO_HF; flight_phase = ActuatorEffectiveness::FlightPhase::FORWARD_FLIGHT;
} }
}
// Forward to effectiveness source // Special cases for VTOL in transition
_actuator_effectiveness->setFlightPhase(flight_phase); if (vehicle_status.is_vtol && vehicle_status.in_transition_mode) {
if (vehicle_status.in_transition_to_fw) {
flight_phase = ActuatorEffectiveness::FlightPhase::TRANSITION_HF_TO_FF;
} else {
flight_phase = ActuatorEffectiveness::FlightPhase::TRANSITION_FF_TO_HF;
}
}
// Forward to effectiveness source
_actuator_effectiveness->setFlightPhase(flight_phase);
}
} }
// Guard against too small (< 0.2ms) and too large (> 20ms) dt's. // Guard against too small (< 0.2ms) and too large (> 20ms) dt's.