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Set tailsitter flag via vehicle status

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Removes the necessity of including vtol_type.h in other modules.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-05-18 10:01:04 +02:00
parent 7292ce483c
commit d8444df11c
6 changed files with 9 additions and 37 deletions
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src/modules/mc_att_control/mc_att_control.hpp
-1
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@@ -54,7 +54,6 @@
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <vtol_att_control/vtol_type.h>
#include <lib/mathlib/math/filter/AlphaFilter.hpp>
#include <AttitudeControl.hpp>
src/modules/mc_att_control/mc_att_control_main.cpp
+2 -7
View File
@@ -58,13 +58,6 @@ MulticopterAttitudeControl::MulticopterAttitudeControl(bool vtol) :
_loop_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
_vtol(vtol)
{
if (_vtol) {
int32_t vt_type = -1;
if (param_get(param_find("VT_TYPE"), &vt_type) == PX4_OK) {
_vtol_tailsitter = (static_cast<vtol_type>(vt_type) == vtol_type::TAILSITTER);
}
}
parameters_updated();
}
@@ -301,6 +294,8 @@ MulticopterAttitudeControl::Run()
_vehicle_type_rotary_wing = (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
_vtol = vehicle_status.is_vtol;
_vtol_in_transition_mode = vehicle_status.in_transition_mode;
_vtol_tailsitter = vehicle_status.is_vtol_tailsitter;
}
}