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vtol_att_control: consolidated standard parameters & fix usage of hrt_elapsed time

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- standard vtol was implementing many custom parameters although they
are generic and should be shared between the vtol types
- removed heavy usage of hrt_elapsed_time() which is a system call and
could be computationally expensive
This commit is contained in:
Roman
2018-03-07 14:01:51 +01:00
committed by Roman Bapst
parent 9c6b1a0f04
commit daa6c6ffc8
7 changed files with 112 additions and 118 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+22
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@@ -77,6 +77,17 @@ VtolAttitudeControl::VtolAttitudeControl()
_params_handles.front_trans_time_openloop = param_find("VT_F_TR_OL_TM");
_params_handles.front_trans_time_min = param_find("VT_TRANS_MIN_TM");
_params_handles.front_trans_duration = param_find("VT_F_TRANS_DUR");
_params_handles.back_trans_duration = param_find("VT_B_TRANS_DUR");
_params_handles.transition_airspeed = param_find("VT_ARSP_TRANS");
_params_handles.front_trans_throttle = param_find("VT_F_TRANS_THR");
_params_handles.back_trans_throttle = param_find("VT_B_TRANS_THR");
_params_handles.airspeed_blend = param_find("VT_ARSP_BLEND");
_params_handles.airspeed_mode = param_find("FW_ARSP_MODE");
_params_handles.front_trans_timeout = param_find("VT_TRANS_TIMEOUT");
_params_handles.mpc_xy_cruise = param_find("MPC_XY_CRUISE");
_params_handles.wv_takeoff = param_find("VT_WV_TKO_EN");
_params_handles.wv_land = param_find("VT_WV_LND_EN");
_params_handles.wv_loiter = param_find("VT_WV_LTR_EN");
@@ -487,6 +498,17 @@ VtolAttitudeControl::parameters_update()
param_get(_params_handles.wv_land, &l);
_params.wv_land = (l == 1);
param_get(_params_handles.front_trans_duration, &_params.front_trans_duration);
param_get(_params_handles.back_trans_duration, &_params.back_trans_duration);
param_get(_params_handles.transition_airspeed, &_params.transition_airspeed);
param_get(_params_handles.front_trans_throttle, &_params.front_trans_throttle);
param_get(_params_handles.back_trans_throttle, &_params.back_trans_throttle);
param_get(_params_handles.airspeed_blend, &_params.airspeed_blend);
param_get(_params_handles.airspeed_mode, &_params.airspeed_mode);
param_get(_params_handles.front_trans_timeout, &_params.front_trans_timeout);
param_get(_params_handles.mpc_xy_cruise, &_params.mpc_xy_cruise);
// update the parameters of the instances of base VtolType
if (_vtol_type != nullptr) {
_vtol_type->parameters_update();