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vehicle constraints: remove landing gear

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- landing_gear: refactor state name
- Add the keep state to the landing gear message
- Adapt FlightTaskManual, FlightTaskAutoMapper, mc_pos_control,
to review message definition
This commit is contained in:
Simone Guscetti
2018-12-10 16:17:23 +01:00
committed by Dennis Mannhart
parent 6dbed6636d
commit de185726b3
7 changed files with 24 additions and 27 deletions
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src/lib/FlightTasks/tasks/AutoMapper/FlightTaskAutoMapper.cpp
+4 -4
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@@ -89,7 +89,7 @@ bool FlightTaskAutoMapper::update()
// during mission and reposition, raise the landing gears but only
// if altitude is high enough
if (_highEnoughForLandingGear()) {
_constraints.landing_gear = vehicle_constraints_s::GEAR_UP;
_gear.landing_gear = landing_gear_s::GEAR_UP;
}
// update previous type
@@ -121,7 +121,7 @@ void FlightTaskAutoMapper::_generateLandSetpoints()
// set constraints
_constraints.tilt = MPC_TILTMAX_LND.get();
_constraints.speed_down = MPC_LAND_SPEED.get();
_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
_gear.landing_gear = landing_gear_s::GEAR_DOWN;
}
void FlightTaskAutoMapper::_generateTakeoffSetpoints()
@@ -134,7 +134,7 @@ void FlightTaskAutoMapper::_generateTakeoffSetpoints()
_constraints.speed_up = math::gradual(_alt_above_ground, MPC_LAND_ALT2.get(),
MPC_LAND_ALT1.get(), MPC_TKO_SPEED.get(), _constraints.speed_up);
_constraints.landing_gear = vehicle_constraints_s::GEAR_DOWN;
_gear.landing_gear = landing_gear_s::GEAR_DOWN;
}
void FlightTaskAutoMapper::_generateVelocitySetpoints()
@@ -173,4 +173,4 @@ bool FlightTaskAutoMapper::_highEnoughForLandingGear()
{
// return true if altitude is above two meters
return _alt_above_ground > 2.0f;
}
}